Robust Command Filtered Adaptive Backstepping Control for a Quadrotor Aircraft
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 divide...
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2018/1854648 |
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| _version_ | 1832555964997304320 |
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| author | Yicheng Liu Junhui Ma Haiyan Tu |
| author_facet | Yicheng Liu Junhui Ma Haiyan Tu |
| author_sort | Yicheng Liu |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-f8feca3e66514c99b42fd23c532d64d1 |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-f8feca3e66514c99b42fd23c532d64d12025-02-03T05:46:48ZengWileyJournal of Control Science and Engineering1687-52491687-52572018-01-01201810.1155/2018/18546481854648Robust Command Filtered Adaptive Backstepping Control for a Quadrotor AircraftYicheng Liu0Junhui Ma1Haiyan Tu2College of Electrical & Information Engineering, Sichuan University, Chengdu 610065, ChinaCollege of Electrical & Information Engineering, Sichuan University, Chengdu 610065, ChinaCollege of Electrical & Information Engineering, Sichuan University, Chengdu 610065, ChinaThis 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.http://dx.doi.org/10.1155/2018/1854648 |
| spellingShingle | Yicheng Liu Junhui Ma Haiyan Tu Robust Command Filtered Adaptive Backstepping Control for a Quadrotor Aircraft Journal of Control Science and Engineering |
| title | Robust Command Filtered Adaptive Backstepping Control for a Quadrotor Aircraft |
| title_full | Robust Command Filtered Adaptive Backstepping Control for a Quadrotor Aircraft |
| title_fullStr | Robust Command Filtered Adaptive Backstepping Control for a Quadrotor Aircraft |
| title_full_unstemmed | Robust Command Filtered Adaptive Backstepping Control for a Quadrotor Aircraft |
| title_short | Robust Command Filtered Adaptive Backstepping Control for a Quadrotor Aircraft |
| title_sort | robust command filtered adaptive backstepping control for a quadrotor aircraft |
| url | http://dx.doi.org/10.1155/2018/1854648 |
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