Modeling and Backstepping-based Nonlinear Control Strategy for a 6 DOF Quadrotor Helicopter

Mian, A.A.; Wang, Daobo

doi:10.1016/s1000-9361(08)60034-5

Cited by 198 publications

(106 citation statements)

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“…3) The height between the rotors and the plane of the hexarotor UAV is ignored. In Fig.2, 1 l denotes the length of OB and OE, 2 l denotes the length of AM, DM, CN and FN, 3 l denotes the length of OM and ON, a represents the included angle between AM and OM.…”

Section: Mathematical Modelingmentioning

confidence: 99%

“…The design of the vehicle is simpler than for normal helicopters in that the quad-rotor does not use mechanical linkages to vary the rotor blade pitch angle as they spin and this reduces maintenance time and cost. Further, its relatively low-cost feature make it attractive candidates for swarm operations, a field of ongoing research in the UAV community [1][2][3][4].…”

Section: Introductionmentioning

confidence: 99%

“…Backstepping control design [2][3][4], due to its simple, has become an effective approach for controller design. The rotational dynamics of the hexarotor UAV satisfies the strict feedback form, so it can be used backstepping to design the attitude controller.…”

Section: Introductionmentioning

confidence: 99%

“…If the generated control command is not fully implemented by actuators, the accumulation of errors may lead to the system unstable. However, these problems are not considered in the reference [2][3][4]. To solve these problems, Farrell, etc.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive Command Filtered Backstepping Trajectory Tracking Control of Hexarotor UAV

Cui¹,

Zhong²

2017

Proceedings of the 2017 International Conference on Applied Mathematics, Modelling and Statistics Application (AMMSA 2017)

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Abstract-In this paper, a hexarotor unmanned aerial vehicle (UAV) is concerned to solve such problems as smaller payload capacity, lack of both hardware redundancy and anti-crosswind capability for quad-rotor. Considering the under-actuated and strong coupling nonlinear system with external disturbance and parameter uncertainty properties of the hexarotor UAV, a nested double-loops trajectory tracking control strategy is proposed. A position error PID controller is designed as the outer-loop controller, of which the task is to compare the desired trajectory with real position of the hexarotor UAV and export the desired attitude angles to the inner-loop. And, an adaptive commandfiltered backstepping controller is designed as the inner-loop controller which makes use of parameter update laws to estimate the disturbances of the hexarotor UAV. The simulation results show that the proposed control strategy enhances the trajectory tracking performance by controlling the external disturbance and parameter uncertainty.

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Section: Mathematical Modelingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Adaptive Command Filtered Backstepping Trajectory Tracking Control of Hexarotor UAV

Cui¹,

Zhong²

2017

Proceedings of the 2017 International Conference on Applied Mathematics, Modelling and Statistics Application (AMMSA 2017)

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“…Also, a linear SISO (single input-single output) controller was designed to regulate flyer attitude (Pounds et al, 2006). In 2008s, a nonlinear model of an underactuated quadrotor aerial robot is derived, based on Newton-Euler formalism, and back-stepping based PID control strategy is implemented for the derived model by Mian and Daobo (2008). A robust control methodology for a quadrotor mechanism is developed by Sangyam et al (2010).…”

Section: Introductionmentioning

confidence: 99%

Tracking control of an unmanned aerial vehicle using cascade configuration of fuzzy logic controllers in presence of windflaw

Zare

Zakeri

Sadeghi

et al. 2016

Int. j. adv. appl. sci

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In this study, an unmanned aerial vehicle (UAV), quadrotor particularly, with six degree of freedom (6-DOF) is modeled and a novel arrangement of fuzzy logic controller (FLC) are designed to control quadrotor's attitude and altitude. The UAVs are high nonlinear in terms of dynamic equations and are in class of under-actuated systems with six degree of freedom and four propeller's speed as inputs. So, designing an appropriate controller is the main challenge in UAV's applications. The controller architectures is composed of three FLCs. A MIMO FLC is implemented to control angles and altitude which is fed by two first output controllers, namely desired roll and pitch angles. Then, an octagonal helix path is constructed in such a way that an octagonal schema is generated in X-Y plane and is developed in vertical direction. By applying the windflaw to the system as a disturbance, which is blew in three directions, namely x, y, and z, the performance of designed controller is investigated. Finally, results are presented to show the controller performance for tracking purpose in presence of a wind as disturbance.

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Nonlinear and Adaptive Intelligent Control Techniques for Quadrotor UAV – A Survey

Mo¹,

Farid²

2018

Asian Journal of Control

171

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Parametric uncertainties and coupled nonlinear dynamics are inherent in quadrotor configuration and infer adaptive nonlinear approaches to be used for flight control system. Numerous adaptive nonlinear and intelligent control techniques, which have been reported in the literature for designing quadrotor flight controller by various researchers, are investigated in this paper. As a priori, each conventional nonlinear control technique is discussed broadly and then its adaptive/observer based augmentation is conferred along with all possible variants. Among conventional nonlinear control approaches, feedback linearization, backstepping, sliding mode, and model predictive control, are studied. Intelligent control approaches incorporating fuzzy logic and neural networks are also discussed. In addition to adaption based parametric uncertainty handling, various other aspects of each control technique regarding stability, disturbance rejection, response time, asymptotic, exponential and finite time convergence etc., are discussed in sufficient depth. The contribution of this paper is the provision of detailed and in depth discussion on quadrotor nonlinear control approaches to the flight control designers.

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Modeling and Backstepping-based Nonlinear Control Strategy for a 6 DOF Quadrotor Helicopter

Cited by 198 publications

References 1 publication

Adaptive Command Filtered Backstepping Trajectory Tracking Control of Hexarotor UAV

Adaptive Command Filtered Backstepping Trajectory Tracking Control of Hexarotor UAV

Tracking control of an unmanned aerial vehicle using cascade configuration of fuzzy logic controllers in presence of windflaw

Nonlinear and Adaptive Intelligent Control Techniques for Quadrotor UAV – A Survey

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