Robust Flight Control Design Using Sensor-Based Backstepping Control for Unmanned Aerial Vehicles

Cao, Lu; Hu, Xiaoxiang; Sheng-xiu, Zhang; Liu, Yunfeng

doi:10.1061/(asce)as.1943-5525.0000783

Cited by 13 publications

(4 citation statements)

References 23 publications

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“…For the first term on the right-hand side of (25), notice from (20) and (21) that the derivative of s 1 is given by…”

Section: Proof 1 Define the Following Lyapunov Function Candidatementioning

confidence: 99%

“…erefore, the development of a specialized controller, which is able to take into account the quadrotor's modeling nonlinearity with strongly coupled dynamics, underactuated characteristics, as well as parametric uncertainty, is always desired. Prior e ort has been put towards proportional-integral-derivative (PID) control [7][8][9], feedback linearization [10,11], active disturbance rejection control (ADRC) [12,13], model predictive control [14,15], internal model control [16], multivariable super-twisting-like-algorithm [17], backstepping control technique [18][19][20], etc.…”

Section: Introductionmentioning

confidence: 99%

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Robust Tracking Control of a Quadrotor UAV Based on Adaptive Sliding Mode Controller

Huang

Wang

et al. 2019

Complexity

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In this paper, a robust adaptive sliding mode control scheme is developed for attitude and altitude tracking of a quadrotor unmanned aerial vehicle (UAV) system under the simultaneous effect of parametric uncertainties and consistent external disturbance. The underactuated dynamic model of the quadrotor UAV is first built via the Newton–Euler formalism. Considering the nonlinear and strongly coupled characteristics of the quadrotor, the controller is then designed using a sliding mode approach. Meanwhile, additional adaptive laws are proposed to further improve the robustness of the proposed control scheme against the parametric uncertainties of the system. It is proven that the control laws can eliminate the altitude and attitude tracking errors, which are guaranteed to converge to zero asymptotically, even under a strong external disturbance. Finally, numerical simulation and experimental tests are performed, respectively, to verify the effectiveness and robustness of the proposed controller, where its superiority to linear quadratic control and active disturbance rejection control has been demonstrated clearly.

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“…For the first term on the right-hand side of (25), notice from (20) and (21) that the derivative of s 1 is given by…”

Section: Proof 1 Define the Following Lyapunov Function Candidatementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust Tracking Control of a Quadrotor UAV Based on Adaptive Sliding Mode Controller

Huang

Wang

et al. 2019

Complexity

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“…As it is usually designed based on Lyapunov theory, the stability of the system could always be guaranteed. Due to these advantages, it has attracted great interest in recent years, some valuable research results have already been presented to improve the system robustness and stability [21][22][23][24]. In [21], a novel sensor-based backstepping technique was developed to enhance the robustness of the UAV control system.…”

Section: Introductionmentioning

confidence: 99%

“…Due to these advantages, it has attracted great interest in recent years, some valuable research results have already been presented to improve the system robustness and stability [21][22][23][24]. In [21], a novel sensor-based backstepping technique was developed to enhance the robustness of the UAV control system. Additionally, in [22], a proportional integral (PI) observer was proposed to deal with the disturbances, and the backstepping control combined with the observer were applied to achieve trajectory tracking.…”

Section: Introductionmentioning

confidence: 99%

Backstepping Control of an Unmanned Helicopter Subjected to External Disturbance and Model Uncertainty

et al. 2021

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A helicopter is a highly nonlinear system. Its mathematical model is difficult to establish accurately, especially the complicated flapping dynamics. In addition, the forces and moments exerted on the fuselage are very vulnerable to external disturbances like wind gust when flying in the outdoor environment. This paper proposes a composite control scheme which consists of a nonlinear backstepping controller and an extended state observer (ESO) to handle the above problems. The stability of the closed-loop system can be guaranteed based on Lyapunov theory. The external disturbances and model nonlinearities are treated as a lumped disturbance. Meanwhile, the ESO is employed to compensate the influence by estimating the lumped disturbance in real-time. Numerical simulation results are presented to demonstrate that the algorithm can achieve accurate and agile attitude tracking under the external wind gust disturbances even with model uncertainties. When coming to the flight test, a block dropping device was designed to generate a quantifiable and replicable disturbance, and the experimental results indicate that the algorithm introduced above can reject the external disturbance rapidly and track the given attitude command precisely.

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Multivariable sliding mode backstepping controller design for quadrotor UAV based on disturbance observer

Zhang

Wang

Guo

et al. 2018

Sci. China Inf. Sci.

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Robust Flight Control Design Using Sensor-Based Backstepping Control for Unmanned Aerial Vehicles

Cited by 13 publications

References 23 publications

Robust Tracking Control of a Quadrotor UAV Based on Adaptive Sliding Mode Controller

Robust Tracking Control of a Quadrotor UAV Based on Adaptive Sliding Mode Controller

Backstepping Control of an Unmanned Helicopter Subjected to External Disturbance and Model Uncertainty

Multivariable sliding mode backstepping controller design for quadrotor UAV based on disturbance observer

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