TY - GEN
T1 - Adaptive backstepping tracking control for quadrotor aerial robots subject to uncertain dynamics
AU - Ou, Tsung Wei
AU - Liu, Yen Chen
N1 - Funding Information:
This work was supported in part by the Ministry of Science and Technology (MOST), Taiwan, under grants MOST 108-2636-E-006-007, MOST 106-2221-E-006-010-MY3, and MOST 105-2221-E-006-160-MY3.
Publisher Copyright:
© 2019 American Automatic Control Council.
PY - 2019/7
Y1 - 2019/7
N2 - In this paper, a backstepping controller is presented for quadrotor system to follow a predefined trajectory without the knowledge of dynamic parameters in the control algorithms. By dividing the quadrotor systems into several subsystems, the idea of nominal control input is presented to modify the quadrotor input force and torque. Subsequently, the backstepping control technique is developed for the nominal controls with the adaptive laws to estimate unknown dynamic parameters. Both the mass and moment of inertia are coped with by using adaptive laws. Stability and tracking performance of the proposed closed-loop system are proved by using Lyapunov theorem that the tracking errors converge to the origin asymptotically. Numerical examples are presented to show the quadrotor system tracking a desired trajectory efficiently.
AB - In this paper, a backstepping controller is presented for quadrotor system to follow a predefined trajectory without the knowledge of dynamic parameters in the control algorithms. By dividing the quadrotor systems into several subsystems, the idea of nominal control input is presented to modify the quadrotor input force and torque. Subsequently, the backstepping control technique is developed for the nominal controls with the adaptive laws to estimate unknown dynamic parameters. Both the mass and moment of inertia are coped with by using adaptive laws. Stability and tracking performance of the proposed closed-loop system are proved by using Lyapunov theorem that the tracking errors converge to the origin asymptotically. Numerical examples are presented to show the quadrotor system tracking a desired trajectory efficiently.
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M3 - Conference contribution
AN - SCOPUS:85072295648
T3 - Proceedings of the American Control Conference
SP - 2251
EP - 2256
BT - 2019 American Control Conference, ACC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 American Control Conference, ACC 2019
Y2 - 10 July 2019 through 12 July 2019
ER -