Backstepping-based adaptive control of a quadrotor UAV with guaranteed tracking performance

Koksal, Nasrettin; An, Hao; Fi̇dan, Barış

doi:10.1016/j.isatra.2020.06.006

Cited by 111 publications

(40 citation statements)

References 21 publications

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“…To be more specific, in literature [10], Li and his colleagues have proposed an adaptive PID control method, which introduced multivariable neural network based on radial basis function (RBF), for UAVs with the high nonlinear and strong coupling. Moreover, an adaptive backstepping control approach is designed for trajectory tracking of quadrotor UAV [11]. Furthermore, in [5], in order to make the control systems more robust, a novel integral backstepping controller is proposed for UAVs.…”

Section: Introductionmentioning

confidence: 99%

LSTM-Based Output-Constrained Adaptive Fault-Tolerant Control for Fixed-Wing UAV with High Dynamic Disturbances and Actuator Faults

Chang

Rong

Chen

et al. 2021

Mathematical Problems in Engineering

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The unknown disturbances and the changing uncertainties bring difficulties for designing a stable attitude controller for UAV. In this paper, a novel adaptive fault-tolerant attitude control approach is designed based on the long short-term memory (LSTM) network for the fixed-wing UAV subject to the high dynamic disturbances and actuator faults. Firstly, the high dynamic disturbances can be compensated by the adaptive laws. Meanwhile, the actuator faults can be handled by the proposed adaptive fault-tolerant control (AFTC) scheme. Moreover, the LSTM network is introduced to approximate the unknown and time-accumulating nonlinearities. With the introduction of the one-to-one nonlinear mapping (NM), the output constraints in the control system can be guaranteed. Additionally, it can be demonstrated that the boundness of all the signals can be assured. At last, numerical simulation results are provided to illustrate the effectiveness of the proposed method.

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Section: Introductionmentioning

confidence: 99%

LSTM-Based Output-Constrained Adaptive Fault-Tolerant Control for Fixed-Wing UAV with High Dynamic Disturbances and Actuator Faults

Chang

Rong

Chen

et al. 2021

Mathematical Problems in Engineering

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show abstract

“…In order to achieve attitude stabilization and position tracking control of the quadrotor, various advanced control techniques have been developed. Many remarkable achievements have been obtained such as robust PID control [11], active disturbance rejection method [12], feedback linearization control [13], backstepping control [14], model predictive control [15], adaptive control [16], immersion and invariance control [17], reinforcement learning [18], and composite stability control [19,20]. Although the above methods can accomplish the autonomous flight of UAVs, some of them still have limited capability to handle uncertainties and external disturbances.…”

Section: Introductionmentioning

confidence: 99%

A Moving Target Tracking Control of Quadrotor UAV Based on Passive Control and Super-Twisting Sliding Mode Control

Xue

Zhu

Yang

et al. 2021

Mathematical Problems in Engineering

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A novel asymptotic tracking controller for an underactuated quadrotor unmanned aerial vehicle (UAV) is proposed to solve a moving target tracking problem. Firstly, the control system is decoupled into the position control system and the attitude control system. Secondly, a method combined artificial potential field with passivity control (APF&PC) is introduced for the positioning system to achieve high-precision tracking of moving target at a fixed distance. Thirdly, a super-twisting sliding mode (STSM) method with an improved reaching law for the attitude system is applied to ensure that the attitude converges to the desired value. Furthermore, the stabilities of two subsystems are proved, and sufficient stability conditions are derived based on the passive method and Lyapunov method, respectively. Finally, simulation results of the moving target tracking verify the superiority and robustness of the proposed control method in the presence of parameter uncertainties and external disturbances.

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“…In addition, another noticeable aspect in the SUS is space robot, which is one of the main realization methods of autonomous on-orbit services and had set off a research boom on a global scale in the last thirty years [14]. Huang et al [15] proposed a adaptive controller constructed by a dynamic and a kinematic adaption law for the tethered space robot (TSR), taking the attitude motions of both base and target satellites and the elasticity of tether into account. In [16], a CE based adaptive controller with desirable separation property has been proposed to improve the performance of robot manipulators with both the uncertain kinematics and dynamics.…”

Section: Introductionmentioning

confidence: 99%

High-Order Disturbance Observer-Based Neural Adaptive Control for Space Unmanned Systems With Stochastic and High-Dynamic Uncertainties

et al. 2021

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In this paper, a high order disturbance observer based stochastic adaptive anti-disturbance control algorithm has been designed for the space unmanned systems (SUSs) with high dynamic disturbances and stochastic uncertainties. Firstly, to suppress the adverse influence of the high dynamic disturbances, a high order disturbance observer is designed for the SUSs to maintain the accurate approximation. Secondly, to overcome the infaust effects of the stochastic uncertainties, a novel variable has been introduced and the corresponding adaptive law has been proposed. Moreover, the neural networks have been employed to enhance the adaptability with respect to the nonlinearities and modeling errors. Based on the stochastic control theory and the fourth-order Lyapunov function, the stochastic stability of the closed-loop control system has been proved. Finally, the performance of high-order disturbance observer has been verified in two cases of simulations, and the effectiveness of the stochastic adaptive anti-disturbance control strategy has been demonstrated simultaneously.

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Backstepping-based adaptive control of a quadrotor UAV with guaranteed tracking performance

Cited by 111 publications

References 21 publications

LSTM-Based Output-Constrained Adaptive Fault-Tolerant Control for Fixed-Wing UAV with High Dynamic Disturbances and Actuator Faults

LSTM-Based Output-Constrained Adaptive Fault-Tolerant Control for Fixed-Wing UAV with High Dynamic Disturbances and Actuator Faults

A Moving Target Tracking Control of Quadrotor UAV Based on Passive Control and Super-Twisting Sliding Mode Control

High-Order Disturbance Observer-Based Neural Adaptive Control for Space Unmanned Systems With Stochastic and High-Dynamic Uncertainties

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