Design and Implementation of Integral Backstepping Sliding Mode Control for Quadrotor Trajectory Tracking

Tsai, Shun-Hung; Chang, Yiping; Lin, Hung‐Yi; Chang, Luh‐Maan

doi:10.3390/pr9111951

Cited by 11 publications

(2 citation statements)

References 19 publications

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“…In Ref. 15, a trajectory tracking control scheme for a quadrotor considering only uncertainties is proposed, the tracking controller combines sliding mode and integral backstepping laws for position and attitude tracking. Also Ref.…”

Section: Introductionmentioning

confidence: 99%

Real-time robust tracking control for a quadrotor using monocular vision

Montoya-Morales

Guerrero-Sánchez

Valencia‐Palomo

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part G:

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In this paper, the autonomous trajectory-tracking problem for an Unmanned Aerial Vehicle (UAV) based on Sliding Mode Control (SMC) algorithms is treated. The control system is implemented in real-time to stabilize a commercial AR.Drone 2.0 quadrotor using monocular vision. The under-actuated mathematical model is based on the Newton-Euler formulation. The algorithm allows the stabilization of the quadrotor in all its states under the simultaneous effect of parametric uncertainties and constant external disturbances. The vision algorithm uses a monocular camera to estimate the vehicle’s position. The experimental test results and numerical simulations show the effectiveness and robustness of the proposed controller.

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Section: Introductionmentioning

confidence: 99%

Real-time robust tracking control for a quadrotor using monocular vision

Montoya-Morales

Guerrero-Sánchez

Valencia‐Palomo

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part G:

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show abstract

“…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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Control design of quadrotor aircraft based on improved integral backstepping sliding mode

Jinlong,

Jianhong,

Ruchun

et al. 2024

Asian Journal of Control

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An improved integral backstepping sliding mode control (IIBSMC) strategy is proposed to address the problems of long regulation time and poor disturbance resistance of integral backstepping control (IBC) for quadrotor aircraft. The IIBSMC method first introduces the integral term into the virtual variable on the basis of IBC, which makes the system respond faster, overshoot smaller and anti‐interference performance stronger. After that, combined with sliding mode control, the system is further processed to improve the control performance of the system. Finally, the quadrotor is controlled to achieve fixed‐point hovering and trajectory tracking, and the rotation and translation performance of the aircraft and the stability under external interference are improved. When the quadrotor aircraft is subjected to instantaneous interference, constant interference, sinusoidal interference, white noise interference, and complex interference, the simulation experiments of IBC, improved integral backstepping control (IIBC), integral backstepping sliding mode control (IBSMC), and IIBSMC are compared. It can be obviously found that the IIBSMC method has smaller system overshoot, faster recovery of the original equilibrium position, shorter adjustment time, and smaller error. When using the IIBSMC method to design the controller, the stability of the controller is theoretically proved by backstepping recursion. Finally, the simulation results show that the designed controller can better achieve fixed‐point hovering and trajectory tracking control well.

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Design and Implementation of Integral Backstepping Sliding Mode Control for Quadrotor Trajectory Tracking

Cited by 11 publications

References 19 publications

Real-time robust tracking control for a quadrotor using monocular vision

Real-time robust tracking control for a quadrotor using monocular vision

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

Control design of quadrotor aircraft based on improved integral backstepping sliding mode

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