Backstepping control with sliding mode estimation for a hexacopter

Arellano-Muro, Carlos A.; Luque-Vega, Luis F.; Castillo–Toledo, B.; Loukianov, Alexander G.

doi:10.1109/iceee.2013.6676026

Cited by 37 publications

(16 citation statements)

References 9 publications

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“…The terms n and v are measured by the UAV sensors and, in particular, the propeller velocity n sensor will be explained in detail in a following section. The remainder terms

and

are indicated as nominal values by some research works as in [ 9 ] where a thrust coefficient of

and a drag coefficient of

are presented, but there is no explanation or methodology to obtain these values, which is very important when it comes to motor control. Due to the fact that the cross-section area A facing the direction of movement of the drone is very difficult to calculate during flight, a fixed drag coefficient is proposed as

.…”

Section: Uav’s Dynamical Modelmentioning

confidence: 99%

Velocity Sensor for Real-Time Backstepping Control of a Multirotor Considering Actuator Dynamics

Mayorga-Macías

González-Jiménez

Meza-Aguilar

et al. 2020

Sensors

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A real-time implementation of a control scheme for a multirotor, based on angular velocity sensors for the actuators, is presented. The control scheme is composed of two loops: an inner loop for the actuators and an outer loop for the unmanned aerial vehicle (UAV). The UAV control algorithm is designed by means of the backstepping technique and a robust sliding mode differentiator, and the actuator control strategy is based on a standard proportional-integral-derivative (PID) controller. A robust exact differentiator, based on high order sliding modes, is used to estimate the complex derivatives present in the proposed control law. As the measurements of the propeller’s angular velocities are required for the control law, velocity sensors are mounted in the axles of the rotors to retrieve them and a signal conditioning stage is implemented. In addition, dynamical models for the actuators of the aircraft were calculated by means of transfer functions obtained via experimental measurements in a test bench developed for this purpose. This test bench permits to characterize the parameters of the transfer functions by comparing the forces computed using the nominal parameter to the measured forces. To this end, it is assumed that the loads in the actuators of the vehicle are insignificant during flight. The effectiveness of the proposed sensor, its signal conditioning, and the overall control scheme are validated by means of simulation results and real-time experiments.

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“…The terms n and v are measured by the UAV sensors and, in particular, the propeller velocity n sensor will be explained in detail in a following section. The remainder terms

and

are indicated as nominal values by some research works as in [ 9 ] where a thrust coefficient of

and a drag coefficient of

.…”

Section: Uav’s Dynamical Modelmentioning

confidence: 99%

Velocity Sensor for Real-Time Backstepping Control of a Multirotor Considering Actuator Dynamics

Mayorga-Macías

González-Jiménez

Meza-Aguilar

et al. 2020

Sensors

View full text Add to dashboard Cite

show abstract

“…In some literatures [7], when the attitude angle of UAV is not large, it is often assumed that the change rate of the attitude angle is equal to the angular velocity of the body. b = Θ ω (3) In order to improve the accuracy and robustness of the flight control system, it is necessary to consider the difference between the change rate of the attitude angle and the angular velocity of the body axis system in the actual flight. In this paper, a multi loop method is proposed to design the control rate.…”

Section: Trajectory Tracking Based On Multi Loop Nonlinear Control Mementioning

confidence: 99%

“…First, the flight trajectory planning of UAV is carried out, and then this trajectory is used for tracking control. Because the flight dynamics model of the hexa-copter has the characteristics of serious nonlinearity [2] and external environmental interference [3]. A multi loop adaptive sliding mode variable structure control method is used to track the flight trajectory.…”

Section: Introductionmentioning

confidence: 99%

Research on Trajectory Planning and Tracking of Hexa-copter

2018

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In this paper, the flight control problem of hexa-copter is studied in detail from threedimensional trajectory planning to tracking. Then the cubic spline interpolation method is used to generate the trajectory by using these time marked waypoints. The flight trajectory curve produced by this method is smooth, twice differentiable, and it is easy to control implementation. The flight dynamics model of the UAV has the characteristics of multi-input multi-output, strong coupling, under-actuation, severe nonlinearity and external environmental disturbance. In order to improve the accuracy of flight trajectory and the stability of attitude control, a multi-loop sliding mode variable structure control method is proposed to achieve the hexa-copter flight trajectory tracking. The simulation results show that this method can track the predetermined flight trajectory and keep the attitude stability of the UAV normally.

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“…Various forms of disturbance observers have been applied in the back-stepping and other control schemes. In [48], a sliding mode observer based backstepping control was proposed for the hexacopter to estimate and compensate for the effect of wind parameters. In [49], an adaptive back-stepping sliding mode control was developed for the attitude control of a humanoid robot dual manipulator, and excessive chattering was avoided by introducing a nonlinear disturbance observer (NDO) to compensate for uncertainties.…”

Section: Introductionmentioning

confidence: 99%

Robust and Adaptive Backstepping Control for Hexacopter UAVs

Zhang

Deng

et al. 2019

IEEE Access

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A nonlinear robust and adaptive backstepping control strategy is hierarchically proposed to solve the trajectory tracking problem of hexacopter UAVs. Due to the under-actuated and coupled properties of the hexacopter dynamics, the nominal backstepping control approach is fully designed as the main controller. Considering the model uncertainties and external disturbances perturbing the system stability, a robust 2 nd-order linear extended state observer (LESO) with more reliable velocity feedback is devised to observe and suppress the instabilities, and peaking phenomena in the observation are removed. Usually, large observer gains are selected to reduce the tracking errors but will amplify the measurement noise. To further enhance the system robustness, an adaptive switching function based compensator is introduced to eliminate the observation errors, through which the requirement on large observer gains is relaxed, and high gain behaviors of the LESO are avoided. Stability analysis proves that the nonlinear control scheme can ensure the hexacopter UAV asymptotic tracking along the designated trajectory. Comparative simulations under different controllers are carried out to demonstrate the efficiency and superiority of the proposed control scheme. INDEX TERMS Hexacopter UAV, trajectory tracking, robust backstepping control, 2 nd-order LESO, hierarchical compensators.

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Backstepping control with sliding mode estimation for a hexacopter

Cited by 37 publications

References 9 publications

Velocity Sensor for Real-Time Backstepping Control of a Multirotor Considering Actuator Dynamics

Velocity Sensor for Real-Time Backstepping Control of a Multirotor Considering Actuator Dynamics

Research on Trajectory Planning and Tracking of Hexa-copter

Robust and Adaptive Backstepping Control for Hexacopter UAVs

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