期刊
SENSORS
卷 22, 期 14, 页码 -出版社
MDPI
DOI: 10.3390/s22145082
关键词
trajectory tracking; extended state observer; disturbance observer; backstepping control; quadcopter UAV
资金
- Ho Chi Minh City University of Technology and Education, Vietnam
- MSIT (Ministry of Science and ICT), Korea, under the ITRC (Information Technology Research Center) support program [IITP-2022-2018-0-01423]
- National Research Foundation of Korea (NRF) - Ministry of Education [2020R1A6A1A03038540]
This paper presents a trajectory tracking control method for quadcopter UAV based on nonlinear robust backstepping algorithm and extended state/disturbance observer. The proposed algorithm consists of three parts to achieve robust attitude stabilization and superior performance of three-dimension position tracking control.
A trajectory tracking control for quadcopter unmanned aerial vehicle (UAV) based on a nonlinear robust backstepping algorithm and extended state/disturbance observer (ESDO) is presented in this paper. To obtain robust attitude stabilization and superior performance of three-dimension position tracking control, the construction of the proposed algorithm can be separated into three parts. First, a mathematical model of UAV negatively influenced by exogenous disturbances is established. Following, an extended state/disturbance observer using a general second-order model is designed to approximate undesirable influences of perturbations on the UAVs dynamics. Finally, a nonlinear robust controller is constructed by an integration of the nominal backstepping technique with ESDO to enhance the performance of attitude and position control mode. Robust stability of the closed-loop disturbed system is obtained and guaranteed through the Lyapunov theorem without precise knowledge of the upper bound condition of perturbations. Lastly, a numerical simulation is carried out and compared with other previous controllers to demonstrate the great advantage and effectiveness of the proposed control method.
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