2019
DOI: 10.1109/access.2019.2901316
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Nonlinear Robust Compensation Method for Trajectory Tracking Control of Quadrotors

Abstract: In this paper, a nonlinear robust control method is developed for trajectory tracking of a quadrotor aircraft. The proposed approach combines the robust signal compensation method and the backstepping technique. First, the quadrotor dynamic system with multiple disturbances and uncertainties is divided into four subsystems. Then, the nominal controllers are constructed for the subsystems without disturbance terms, while the robust signal compensators are introduced to compensate for the effect of nonlinearitie… Show more

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Cited by 17 publications
(13 citation statements)
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“…Theorem 3: Consider the closed-loop tracking error dynamics (36). Based on the estimated control input,û (35), the closed-loop tracking error dynamics (36) is the serial interconnected system of ISS systems with the following property:…”
Section: Analysis Of Closed-loop Stabilitymentioning
confidence: 99%
See 1 more Smart Citation
“…Theorem 3: Consider the closed-loop tracking error dynamics (36). Based on the estimated control input,û (35), the closed-loop tracking error dynamics (36) is the serial interconnected system of ISS systems with the following property:…”
Section: Analysis Of Closed-loop Stabilitymentioning
confidence: 99%
“…Only external disturbances or partial unmodeled dynamics, such as the gyroscopic effect are considered as the disturbance in attitude dynamics. A nonlinear robust compensation method was developed using robust filter [36]. A finite-time backstepping controller was proposed to guarantee the finite-time convergence using an augmented sliding mode observer [37].…”
Section: Introductionmentioning
confidence: 99%
“…The attitude and altitude of the quadrotor helicopter can be controlled by changing the speed of each rotor. As shown in Figure 1, Rotors 1 and 3 rotate clockwise, while Rotors 2 and 4 rotate anticlockwise [29][30][31].…”
Section: Quadrotor Modeling and Landing Gear Architecturementioning
confidence: 99%
“…Authors analyze proportional derivative sliding model regulators of overhead cranes and inverted pendulums in [24]- [26], and [27]. In [28]- [30], and [31], authors addressed robust sliding model regulators of parallel manipulators and quadrotors. Authors discussed regulators for stabilization of multiple converters in [32], [33], and [34].…”
Section: Introductionmentioning
confidence: 99%
“…The aforementioned research is divided in two big groups where [16]- [19], [21], [22], [24]- [26], [29], [32]- [34] are focused on the stabilization of nonlinear models subject to nonlinear uncertainties, and [9]- [15], [20], [23], [27], [28], [30], [31] are focused on the stabilization of nonlinear models subject to external perturbations. It is important to note that in most of the cases the nonlinear uncertainties or external perturbations are unknown.…”
Section: Introductionmentioning
confidence: 99%