ℒ1 Backstepping for Robust Trajectory Tracking*

Mallikarjunan, Srinath; Nesbitt, Bill; Hovakimyan, Naira

doi:10.3182/20131120-3-fr-4045.00003

Cited by 5 publications

(3 citation statements)

References 15 publications

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“…In this paper, we consider a multi-rotors aircraft [1][2][3], a vertical take-off and landing (VTOL) UAV, for flight control algorithms.…”

Section: Introductionmentioning

confidence: 99%

“…The recently developed ℒ 1 adaptive controller [16, 17] was applied to attitude control of several benchmark flying vehicles (e.g. [2, 18, 19]) to achieve guaranteed performance in the presence of fast adaptation. To account for the input constraint, nested saturation technique [4, 20], command filtered backstepping technique [21] and non‐linear integrator bounding technique [22] have been introduced into the control design for VTOL UAVs in the recent publications.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive trajectory tracking control of output constrained multi‐rotors systems

Zuo

Wang

2014

IET Control Theory & Applications

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235

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The design of output constrained control system for unmanned aerial vehicles deployed in confined areas is an important issue in practice and not taken into account in many autopilot systems. In this study, the authors address a neural networks-based adaptive trajectory tracking control algorithm for multi-rotors systems in the presence of various uncertainties in their dynamics. Given any sufficient smooth and bounded reference trajectory input, the proposed algorithm achieves that (i) the system output (Euclidean position) tracking error converges to a neighbourhood of zero and furthermore (ii) the system output remains uniformly in a prescribed set. Instead of element-wise estimation, a norm estimation approach of unknown weight vectors is incorporated into the control system design to relieve the onboard computation burden. The convergence property of the closed-loop system subject to output constraint is analysed via a symmetric barrier Lyapunov function augmented with several quadratic terms. Simulation results are demonstrated on a quadrotor model to validate the effectiveness of the proposed algorithm.

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“…In this paper, we consider a multi-rotors aircraft [1][2][3], a vertical take-off and landing (VTOL) UAV, for flight control algorithms.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Adaptive trajectory tracking control of output constrained multi‐rotors systems

Zuo

Wang

2014

IET Control Theory & Applications

Self Cite

235

View full text Add to dashboard Cite

show abstract

“…This controller was designed to be robust against coupling and non-linear dynamics, parametric uncertainties, and external disturbances. In 17 , trajectory tracking is designed using robust control to decrease sensitivity to unmodeled dynamics and external disturbances.…”

Section: Introductionmentioning

confidence: 99%

Robust Design of a Multirotor Aerial Vehicle

Dutta¹

2021

Preprint

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This paper introduces the methodology of systematic robust design of a multirotor vehicle as an example of how to carry out the robust design of a physical system. Robustness in aerial vehicles is highly desirable as it guarantees a desired level of performance even under environmental uncertainties. Thus far, robustness has been considered in terms of active control in the space of multirotor vehicles, but exploration of the design space itself is lacking. In this work, a conceptual design followed by a robust design is performed to come up with the specifications that lead to least uncertain performance of the multirotor vehicle with respect to stochastic wind disturbances.

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