Journal
IET CONTROL THEORY AND APPLICATIONS
Volume 4, Issue 11, Pages 2343-2355Publisher
INST ENGINEERING TECHNOLOGY-IET
DOI: 10.1049/iet-cta.2009.0336
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Funding
- Research Foundation for Key Disciplines of Beijng Municipal Commission of Education [XK100060422]
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The design of a flight control system capable of not only stabilising attitude but also tracking a trajectory accurately for an under-actuated quadrotor aircraft is quite challenging. This study constructs the relationship between the attitude and linear acceleration of a small quadrotor unmanned aircraft and proposes a trajectory tracking control design algorithm, based on the relationship, using a new command-filtered backstepping technique to stabilise the attitude and a linear tracking differentiator to eliminate the classical inner/outer-loop structure. Finally, the validity and the effectiveness of this algorithm are demonstrated by various numerical simulations under different conditions.
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