Modelling and Stabilizing Control Laws Design Based on Backstepping for an Uav Type-Quadrotor

Bouadi, Hakim; Bouchoucha, M.; Tadjine, Mohamed

doi:10.3182/20070903-3-fr-2921.00043

Cited by 103 publications

(106 citation statements)

References 2 publications

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“…, ( 1,2) i i b = are the input disturbance matrices. And the vector a G expresses the gyroscopic torque given by:…”

Section: S C S S C S C C S S R C S S S S C C S S C C S S C S C Cmentioning

confidence: 99%

“…, ( 1,2) i D i = are composite disturbances, including aerodynamic moments, external disturbances and parameter uncertainties. , ( 1,2) i i b = are the input disturbance matrices.…”

Section: S C S S C S C C S S R C S S S S C C S S C C S S C S C Cmentioning

confidence: 99%

“…If the generated control command is not fully implemented by actuators, the accumulation of errors may lead to the system unstable. However, these problems are not considered in the reference [2][3][4]. To solve these problems, Farrell, etc.…”

Section: Introductionmentioning

confidence: 99%

“…The design of the vehicle is simpler than for normal helicopters in that the quad-rotor does not use mechanical linkages to vary the rotor blade pitch angle as they spin and this reduces maintenance time and cost. Further, its relatively low-cost feature make it attractive candidates for swarm operations, a field of ongoing research in the UAV community [1][2][3][4].…”

Section: Introductionmentioning

confidence: 99%

“…Backstepping control design [2][3][4], due to its simple, has become an effective approach for controller design. The rotational dynamics of the hexarotor UAV satisfies the strict feedback form, so it can be used backstepping to design the attitude controller.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Adaptive Command Filtered Backstepping Trajectory Tracking Control of Hexarotor UAV

Cui¹,

Zhong²

2017

Proceedings of the 2017 International Conference on Applied Mathematics, Modelling and Statistics Application (AMMSA 2017)

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Abstract-In this paper, a hexarotor unmanned aerial vehicle (UAV) is concerned to solve such problems as smaller payload capacity, lack of both hardware redundancy and anti-crosswind capability for quad-rotor. Considering the under-actuated and strong coupling nonlinear system with external disturbance and parameter uncertainty properties of the hexarotor UAV, a nested double-loops trajectory tracking control strategy is proposed. A position error PID controller is designed as the outer-loop controller, of which the task is to compare the desired trajectory with real position of the hexarotor UAV and export the desired attitude angles to the inner-loop. And, an adaptive commandfiltered backstepping controller is designed as the inner-loop controller which makes use of parameter update laws to estimate the disturbances of the hexarotor UAV. The simulation results show that the proposed control strategy enhances the trajectory tracking performance by controlling the external disturbance and parameter uncertainty.

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“…, ( 1,2) i i b = are the input disturbance matrices. And the vector a G expresses the gyroscopic torque given by:…”

Section: S C S S C S C C S S R C S S S S C C S S C C S S C S C Cmentioning

confidence: 99%

“…, ( 1,2) i D i = are composite disturbances, including aerodynamic moments, external disturbances and parameter uncertainties. , ( 1,2) i i b = are the input disturbance matrices.…”

Section: S C S S C S C C S S R C S S S S C C S S C C S S C S C Cmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Adaptive Command Filtered Backstepping Trajectory Tracking Control of Hexarotor UAV

Cui¹,

Zhong²

2017

Proceedings of the 2017 International Conference on Applied Mathematics, Modelling and Statistics Application (AMMSA 2017)

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Nonlinear and Adaptive Intelligent Control Techniques for Quadrotor UAV – A Survey

Mo¹,

Farid²

2018

Asian Journal of Control

145

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Parametric uncertainties and coupled nonlinear dynamics are inherent in quadrotor configuration and infer adaptive nonlinear approaches to be used for flight control system. Numerous adaptive nonlinear and intelligent control techniques, which have been reported in the literature for designing quadrotor flight controller by various researchers, are investigated in this paper. As a priori, each conventional nonlinear control technique is discussed broadly and then its adaptive/observer based augmentation is conferred along with all possible variants. Among conventional nonlinear control approaches, feedback linearization, backstepping, sliding mode, and model predictive control, are studied. Intelligent control approaches incorporating fuzzy logic and neural networks are also discussed. In addition to adaption based parametric uncertainty handling, various other aspects of each control technique regarding stability, disturbance rejection, response time, asymptotic, exponential and finite time convergence etc., are discussed in sufficient depth. The contribution of this paper is the provision of detailed and in depth discussion on quadrotor nonlinear control approaches to the flight control designers.

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Payload Drop Application of Unmanned Quadrotor Helicopter Using Gain-Scheduled PID and Model Predictive Control Techniques

Sadeghzadeh

Abdolhosseini

Zhang

2012

Intelligent Robotics and Applications

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Abstract. In this paper two useful control techniques are applied to a Quadrotor helicopter to control the height and while carrying a payload weighing one-fourth of its total weight as well as dropping the payload at a predetermined time. The first technique used in this paper is the Gain Scheduled Proportional Integral Derivative (GS-PID) control and the Model Predictive Control (MPC) algorithm is studied secondly. Both algorithms showed a very promising performance. Finally, both algorithms are successfully implemented on an unmanned quadrotor helicopter testbed (known as Qball-X4) available at the Networked Autonomous Vehicles Lab (NAVL) of Concordia University for height control to demonstrate effectiveness and stability of the two techniques. The results are presented and compared at the last section of this paper.

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Modelling and Stabilizing Control Laws Design Based on Backstepping for an Uav Type-Quadrotor

Cited by 103 publications

References 2 publications

Adaptive Command Filtered Backstepping Trajectory Tracking Control of Hexarotor UAV

Adaptive Command Filtered Backstepping Trajectory Tracking Control of Hexarotor UAV

Nonlinear and Adaptive Intelligent Control Techniques for Quadrotor UAV – A Survey

Payload Drop Application of Unmanned Quadrotor Helicopter Using Gain-Scheduled PID and Model Predictive Control Techniques

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