Adaptive Backstepping-Based Trajectory Tracking Control for Quadrotor UAV with Uncertainty Disturbance

Chen, Zhiming; Liu, Longwu; Luo, Zhouhuai

doi:10.1007/978-981-15-8155-7_122

Cited by 3 publications

(3 citation statements)

References 8 publications

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“…In [42], an SMC-based backstepping and integral SMC have been constructed to steer a quadrotor to follow the desired attitude and translation, respectively. In [43], an adaptive backstepping SMC and a composite disturbance observer controller were implemented for the position and the orientation tracking control of a quadrotor subjected to environmental disturbances, respectively. [44] provide an active disturbance rejection control (ADRC) and SMC-based backstepping were used to realize the tracking control of the translation and rotation of a quadrotor, respectively.…”

Section: Introductionmentioning

confidence: 99%

“…Furthermore, finite-time observers and control methods are ideally needed to achieve exact disturbance suppression and fast-tracking control of the quadrotor. Contrary to [40][41][42][43][44][45][46][47] where the hybrid control was specifically built for two distinct subsystems, namely the attitude subsystem and the position subsystem, in this paper, the hybrid control is applied to three subsystems: the altitude, the attitude, and the position subsystems. The important contributions of this article are summarized below:…”

Section: Introductionmentioning

confidence: 99%

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Adaptive Backstepping and Sliding Mode Control of a Quadrotor

maaruf,

Gulzar,

Abubakar

2024

Preprint

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Quadrotors are increasingly employed for both civilian and military applications. Recently, researchers have combined different control and estimation schemes to come up with a hybrid control structure to improve the robustness and tracking performance of the quadrotors. To further enhance the tracking precision of quadrotors subjected to parametric variations and environmental disturbances, this article proposes a new robust adaptive hybrid control architecture. In this study, the quadrotor model is divided into altitude, attitude, and position subsystems for which appropriate control methods are designed. A fractional-order sliding mode control with adaptive gain (AFSMC) is designed to enhance the tracking of the altitude subsystem. A robust backstepping control with adaptive gain (RAB) is developed for the horizontal position to generate the required roll and pitch orientations. A nonsingular fast terminal sliding mode control (NFTSMC) is incorporated with a finite-time disturbance observer (FDO) to accurately suppress the disturbances, follow the target rotation angles, and attain finite-time stability. The compounded control structure ensures accurate, fast, and robust tracking. The efficacy of the developed hybrid control scheme is assessed via simulations and comparisons with existing control methods.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Adaptive Backstepping and Sliding Mode Control of a Quadrotor

maaruf,

Gulzar,

Abubakar

2024

Preprint

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“…For the preceding problems, numerous effective control methods have been proposed for the trajectory tracking and anti-jamming capabilities of quadrotors. Examples of these control methods are proportional–integral–derivative (PID) control (Mac et al, 2018), backstepping control (Chen et al, 2020; Shao et al, 2018), sliding mode control (Heo and Chwa, 2021; Tsai et al, 2021; Zhao et al, 2022), and active disturbance rejection control (ADRC) (Xu et al, 2020; Yang et al, 2018). The PID control strategy has a simple structure and is easy to adjust.…”

Section: Introductionmentioning

confidence: 99%

Attitude control of quadrotor UAV based on integral backstepping active disturbance rejection control

Xuan

Qi³

et al. 2023

Transactions of the Institute of Measurement and Control

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For the attitude control system of a quadrotor unmanned aerial vehicle (UAV), an integral backstepping active disturbance rejection control strategy is proposed to solve the tracking and disturbance rejection problems in flight control. To solve the problem of buffeting near the origin of traditional nonlinear functions, this paper designs a function [Formula: see text] with better smoothness near the origin. Second, to improve the observation performance of the extended state observer and the anti-disturbance performance of the controller, an improved expanded state observer (IESO) based on error is designed according to the working principle of expanded state observer (ESO) and the tracking law of state variables. Then, to improve the tracking accuracy of the controller, the integral term is introduced into the backstepping method and uses the idea of recursion to design the nonlinear backstepping integral control law. Combining the disturbance estimation and compensation functions of active disturbance rejection control (ADRC), an integral backstepping active disturbance rejection control is designed and applied to the attitude angle control channel of quadrotor UAV. Finally, experimental results indicate that the designed control strategy can realize high-precision tracking of the attitude angle of a quadrotor UAV, achieve fast dynamic response, and improve the anti-interference.

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Backstepping Control Merged with Disturbances Observer for Quadrotor with Rotating Arms

Belmouhoub¹,

Bouzid²,

Medjmadj³

et al. 2023

Un. Sys.

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Controlling nonlinear systems is an important and serious task, especially in the presence of external disturbances and uncertain parameters. The main aim of this paper is to design a robust controller that ensures good trajectory tracking of a new quadrotor with rotating arms subjected to external disturbances. Before proceeding to the quadrotor control, it is necessary to first develop a dynamic model of the studied system that takes into account the variation of: the Center of Gravity (CoG), the inertia, and the allocation matrix. Then, based on the finite time Lyapunov stability theory, the theoretical basis of backstepping control integrated with disturbance observer is explained. The observer estimates online the external disturbances and compensates them in the internal loop that contains the attitude and the position backstepping controllers. Numerical simulations are performed to illustrate the efficiency of the proposed control technique, where the controller’s parameters are tuned using a Genetic Algorithm (GA). Finally, qualitative and quantitative comparison of the suggested controller with the conventional backstepping controller is carried out. Overall, the findings show that the proposed control technique outperforms in terms of accuracy and robustness.

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Adaptive Backstepping-Based Trajectory Tracking Control for Quadrotor UAV with Uncertainty Disturbance

Cited by 3 publications

References 8 publications

Adaptive Backstepping and Sliding Mode Control of a Quadrotor

Adaptive Backstepping and Sliding Mode Control of a Quadrotor

Attitude control of quadrotor UAV based on integral backstepping active disturbance rejection control

Backstepping Control Merged with Disturbances Observer for Quadrotor with Rotating Arms

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