$\mathcal {L}_{1}$ Adaptive Backstepping for Robust Trajectory Tracking of UAVs

Zuo, Zongyu; Mallikarjunan, Srinath

doi:10.1109/tie.2016.2632682

Cited by 69 publications

(26 citation statements)

References 23 publications

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“…The two controllers, i.e., the inner-loop backstepping-based sliding mode controller defined in (9), (19) and (25) and the outer-loop integral sliding mode defined in (28), (34) and (35), are applied to validate the robustness and trajectory tracking performance of the proposed scheme. The desired trajectory is chosen to be To explore the effectiveness of our proposed controller, the following three scenarios are considered.…”

Section: A Simulation Resultsmentioning

confidence: 99%

“…However, in some cases, the design of a controller for a classical helicopter could be applied to a quadrotor with some modifications and vice versa. Many studies have considered multiple nonlinear controllers for different autonomous control designs of quadrotors, such as feedback linearization [12]- [15], dynamic inversion [16], singular perturbation [17], sliding mode control [18]- [21], backstepping [18], [22]- [28], and other related adaptive nonlinear controllers [10], [18], [29], [30]. Considering fault tolerant control (FTC), various nonlinear algorithms including backstepping, sliding mode and adaptive FTC approaches for quadrotor attitude and altitude tracking can be found in [31], [32], and references therein.…”

Section: Introductionmentioning

confidence: 99%

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Robust Backstepping Sliding Mode Control for a Quadrotor Trajectory Tracking Application

Almakhles

2020

IEEE Access

114

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This paper proposes a robust position control scheme for a quadrotor UAV system under uncertainties. The proposed control algorithms combine integral sliding mode and backstepping sliding mode controllers in a double-loop control structure (i.e., inner-outer loop control). The design of the proposed controller is divided into two subcontrollers, namely, attitude and position controllers for the quadrotor. In this work, a nonsimplified six-degree-of-freedom quadrotor model is first established in the presence of disturbances. Afterward, we develop a robust backstepping sliding mode controller for the attitude control of the quadrotor. Next, a robust integral sliding mode controller is designed for the outer loop of the quadrotor to ensure the position trajectory tracking capability in the presence of disturbances. The stability and performance of the quadrotor is thoroughly investigated using Lyapunov stability analysis. Numerical simulations demonstrate the effectiveness of the developed solutions for a quadrotor.

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Section: A Simulation Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust Backstepping Sliding Mode Control for a Quadrotor Trajectory Tracking Application

Almakhles

2020

IEEE Access

114

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“…And several approaches have been proved to be effective in the disturbance rejection of UAV systems. [13][14][15] In the work of Zuo et al, 13 the  1 adaptive backstepping control was proposed for the trajectory tracking of UAVs in presence of modeling uncertainties and external disturbances. In the work of Smith et al 14 and Castañeda et al, 15 observer-based control methods were studied, where the disturbance observer based controller was designed for a small fixed wing UAV with disturbance rejection in the work of Smith et al, 14 and in the work of Castañeda et al, 15 an extended observer based controller was proposed based on the adaptive second order sliding mode control approach.…”

Section: Introductionmentioning

confidence: 99%

Adaptive model predictive control with extended state observer for multi‐UAV formation flight

Zhang

Sun

Deng

2020

Adaptive Control & Signal

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This article studies the adaptive model predictive control with extended state observers (ESO) to deal with multiple unmanned aerial vehicles formation flight in presence of external disturbances and system uncertainties. Specifically, to deal with the mismatch of predictive model caused by external disturbances and system uncertainties, ESOs are introduced to estimate the lumped disturbances, where the ultimately bounded property of observer system can be guaranteed by using the Lyapunov stability theorem. With these observations, the distributed adaptive model predictive controller is designed to achieve trajectory tracking and disturbance rejection simultaneously for multiple unmanned aerial vehicles, as well as taking the state and input saturation into account. Moreover, the stability of proposed model predictive controller is analyzed. Finally, the simulation examples are provided to illustrate the validity of the proposed control scheme.

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“…In [8], an attitude tracking control objective for quadrotor UAV with external disturbances was realized by adopting quaternion feedback and integral backstepping control technique, in the end, the simulation results indicated that, the angular velocities were sensitive to external disturbances. Different with all the control schemes mentioned above, a novel L 1 adaptive backstepping control technique which was based upon the inner-outer loop architecture has been presented in [9], and in which, the position control loop was mainly designed to deal with position subsystem with uncertainties and disturbances, while the attitude control loop was responsible for stabilizing the attitude angles.…”

Section: Introductionmentioning

confidence: 99%

A Novel Trajectory Tracking Control Strategy for Underactuated Quadrotor UAV with Uncertainties and Disturbances

Han¹,

Yang²,

Xia³

et al. 2020

Preprint

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In this research, a novel position trajectory tracking control architecture has been constructed for an underactuated quadrotor unmanned aerial vehicle (UAV) with uncertainties and disturbances. Primarily, we divide the whole dynamic system into an underactuated position subsystem and a fully-actuated attitude subsystem. For the position subsystem, we have transformed it into a fully-actuated system by constructing a virtual PD controller, and this controller can render the position tracking error asymptotically stable. Besides, based on the position controller designed for quadrotor UAV, the desired attitudes, i.e. roll, pitch and yaw angles, will be derived. Next, as for the attitude subsystem which is sensitive to uncertainties and external disturbances, a novel robust attitude constraint-following controller is proposed for this aircraft, this attitude controller can not only guarantee the uniform boundedness and uniform ultimate boundedness of constraint deviation, but also does not requiring more information of uncertainties and disturbances except their bounds. Eventually, the simulations have demonstrated a sound tracking performance of our proposed control strategy for quadrotor UAV even in the presence of uncertainties and disturbances.

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$\mathcal {L}_{1}$ Adaptive Backstepping for Robust Trajectory Tracking of UAVs

Cited by 69 publications

References 23 publications

Robust Backstepping Sliding Mode Control for a Quadrotor Trajectory Tracking Application

Robust Backstepping Sliding Mode Control for a Quadrotor Trajectory Tracking Application

Adaptive model predictive control with extended state observer for multi‐UAV formation flight

A Novel Trajectory Tracking Control Strategy for Underactuated Quadrotor UAV with Uncertainties and Disturbances

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