Journal
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
Volume 17, Issue 11, Pages 2754-2768Publisher
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
DOI: 10.1007/s12555-018-0909-9
Keywords
Adaptive backstepping; extended state observer (ESO); multiple disturbances; quadrotor unmanned aerial vehicle (UAV); trajectory tracking controller
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Funding
- National Natural Science Foundation of China [61603220, 61473177, 61733009]
- Research Fund for the Taishan Scholar Project of Shandong Province of China
- SDUST Young Teachers Teaching Talent Training Plan [BJRC20180503]
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In this paper, we present a nonlinear adaptive backstepping with extended state observer (ESO) trajectory tracking controller for a quadrotor unmanned aerial vehicle (UAV) subject to the multiple disturbances, which include the parametric uncertainties, actuator faults and external disturbance. First, a six-degrees of freedom quadrotor UAV model with the multiple disturbances function is built. Second, the adaptive backstepping controller is designed to track the desired trajectory command aim at internal disturbance. And the adaptive backstepping controller with ESO is designed to track the desired trajectory command aim at external disturbance. Third, the stability of the system is proved by the circle criterion. Finally, under different flight scenarios, simulation results are given to demonstrate the effectiveness of the proposed method.
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