Robust Command Filtered Adaptive Backstepping Control for a Quadrotor Aircraft
Joint Authors
Liu, Yicheng
Ma, Junhui
Tu, Haiyan
Source
Journal of Control Science and Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-01-09
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
This paper addresses a robust trajectory tracking controller for an underactuated quadrotor with external bounded disturbances and unknown inertia parameters.
Different from most of the existing control algorithms, the proposed method does not adopt the dual-loop scheme in which the design is divided into position control and attitude control.
Instead, command filter backstepping is employed to design the controller based on the integrated motion model such that the stability can be guaranteed strictly for the flight control system.
Furthermore, adaptive compensation and robust compensation are introduced to deal with the uncertainty of the inertia parameters and the external bounded disturbances, respectively.
Finally, a similar skew symmetric structure is chosen as the desired structure of the closed-loop system to facilitate the analysis of the stability of the integrated system.
Stability and robust performance of the designed controller are verified by Lyapunov stability theorem.
Simulations are provided to validate the proposed controller.
American Psychological Association (APA)
Liu, Yicheng& Ma, Junhui& Tu, Haiyan. 2018. Robust Command Filtered Adaptive Backstepping Control for a Quadrotor Aircraft. Journal of Control Science and Engineering،Vol. 2018, no. 2018, pp.1-9.
https://search.emarefa.net/detail/BIM-1182888
Modern Language Association (MLA)
Liu, Yicheng…[et al.]. Robust Command Filtered Adaptive Backstepping Control for a Quadrotor Aircraft. Journal of Control Science and Engineering No. 2018 (2018), pp.1-9.
https://search.emarefa.net/detail/BIM-1182888
American Medical Association (AMA)
Liu, Yicheng& Ma, Junhui& Tu, Haiyan. Robust Command Filtered Adaptive Backstepping Control for a Quadrotor Aircraft. Journal of Control Science and Engineering. 2018. Vol. 2018, no. 2018, pp.1-9.
https://search.emarefa.net/detail/BIM-1182888
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1182888