Adaptive backstepping tracking control for quadrotor aerial robots subject to uncertain dynamics

Tsung Wei Ou, Yen Chen Liu

研究成果: Conference contribution

2 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題2019 American Control Conference, ACC 2019
發行者Institute of Electrical and Electronics Engineers Inc.
頁面2251-2256
頁數6
ISBN(電子)9781538679265
出版狀態Published - 2019 七月
事件2019 American Control Conference, ACC 2019 - Philadelphia, United States
持續時間: 2019 七月 102019 七月 12

出版系列

名字Proceedings of the American Control Conference
2019-July
ISSN(列印)0743-1619

Conference

Conference2019 American Control Conference, ACC 2019
國家United States
城市Philadelphia
期間19-07-1019-07-12

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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