Robust Backstepping Control Based on Integral Sliding Modes for Tracking of Quadrotors

Ramirez-Rodriguez, H.; Parra-Vega, Vicente; Sánchez‐Orta, Anand; Garcia‐Salazar, Octavio

doi:10.1007/s10846-013-9909-4

Cited by 127 publications

(41 citation statements)

References 14 publications

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“…Theorem 1 Given the system defined by (9)-(11), if the control gain matrices˛; k p are selected properly, the control input given in (15), the adaptation law in (14), along with the auxiliary functions in (16) ensures AS of the tracking error e p .t / and r p .t / in the sense that e p .t / ; r p .t / ! 0; as t !…”

Section: Remarkmentioning

confidence: 99%

“…Given the system in (6), the control input laws q in (15) Based on (7) and (15), the following inequality can be obtained:…”

Section: Theoremmentioning

confidence: 99%

“…In , a robust attitude controller combining the SMC and the fuzzy inference mechanism is developed for a mini‐UAV in the presence of white noise interference. Ramirez et al , propose an integral sliding mode based backstepping robust controller for a quadrotor to handle bounded uncertainties and time‐varying disturbances. Lee et al , develop a new adaptive sliding mode controller using input augmentation in order to account for the underactuated property of the helicopter, sensor noise and uncertainties with reduced control input magnitude.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Nonlinear robust sliding mode control of a quadrotor unmanned aerial vehicle based on immersion and invariance method

Zhao

Xian

Zhang

et al. 2014

Intl J Robust & Nonlinear

130

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Summary We present an asymptotic tracking controller for an underactuated quadrotor unmanned aerial vehicle using the sliding mode control method and immersion and invariance based adaptive control strategy in this paper. The control system is divided into two loops: the inner‐loop for the attitude control and the outer‐loop for the position. The sliding mode control technology is applied in the inner‐loop to compensate the unmatched nonlinear disturbances, and the immersion and invariance approach is chosen for the outer‐loop to address the parametric uncertainties. The asymptotic tracking of the position and the yaw motion is proven with the Lyapunov based stability analysis and LaSalle's invariance theorem. Real‐time experiment results performed on a hardware‐in‐the‐loop‐simulation testbed are presented to validate the good control performance of the proposed scheme. Copyright © 2014 John Wiley & Sons, Ltd.

show abstract

Section: Remarkmentioning

confidence: 99%

“…Given the system in (6), the control input laws q in (15) Based on (7) and (15), the following inequality can be obtained:…”

Section: Theoremmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Nonlinear robust sliding mode control of a quadrotor unmanned aerial vehicle based on immersion and invariance method

Zhao

Xian

Zhang

et al. 2014

Intl J Robust & Nonlinear

130

View full text Add to dashboard Cite

show abstract

“…Moreover, for autonomous flight, we must address the problem of poor lateral controllability revealed in the previous analysis. In the UAV flight control community, several techniques have been proposed to control a UAV with similar complex dynamics characteristics: robust backstepping based on integral sliding modes , robust H ∞ control , singular perturbation control , and sliding mode control are among the most used approaches. Usually, the control strategy is based on decomposing the UAV dynamics into a cascade of inner‐outer loop subsystems.…”

Section: Robust Feedback Stabilization Designmentioning

confidence: 99%

Robust Flight Control Using Nonsmooth Optimization for a Tandem Ducted Fan Vehicle

Chen

Wang

et al. 2016

Asian Journal of Control

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This work addresses the aerodynamic modeling and near-hover-flight control design for an unconventional aerial robot of the tandem ducted fan configuration, which is intended to be prototypical of a flight service vehicle. The main model elements of this novel unmanned vehicle, which exhibit highly nonlinear and unstable open-loop modes, are presented. A frequencydomain controllability analysis concerning the plant's behavior around the hovering flight condition is then adopted to determine the expected control performance, which is of important practical significance to controllability improvement through vehicle design changes. A robust controller that stabilizes the unmanned vehicle under wind disturbances is designed using a newly developed nonsmooth optimization algorithm, which rigorously and efficiently tunes the arbitrarily predefined structured controller against multiple control requirements. A successive two-loop architecture is employed in the designed controller. In this architecture, the inner loop provides stability augmentation and decoupling, and the outer loop guarantees the desired velocity tracking performance. Simulation results under stochastic wind gusts are presented to verify the performance of the proposed controllers. Preliminary flight tests are also carried out to demonstrate the performance of the system.

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“…Many nonlinear controllers have also been proposed for trajectory tracking. One may quote the feedback linearization, 5,6 Back-stepping approach, 7,8 sliding mode method, 9,10 robust and adaptive techniques, 11,12 and some intelligent controllers. 13,14 Quadrotors face 2 challenges of stability and payload capacity.…”

mentioning

confidence: 99%

Dynamic modeling and nonlinear tracking control of a novel modified quadrotor

Tofigh

Mahjoob

Ayati

2017

Intl J Robust & Nonlinear

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Summary In this article, a nonlinear tracking controller is designed based on Lyapunov stability for a novel aerial robot. The proposed 6‐rotor configuration improves stability and payload lifting capacity of the robot compared with conventional quadrotors while avoiding further complexities in the robot dynamics and steering principles. The dynamical model of the robot is derived using Newton‐Euler method. The model represents a nonlinear, coupled, and underactuated system. The proposed control strategy includes 2 main parts: an attitude controller and a position controller. Both the attitude and position controls are Lyapunov‐based nonlinear tracking controllers that guarantee the asymptotic convergence of the states' tracking errors to zero. Simulation results are presented to illustrate appropriate performance of the closed‐loop system in terms of position/attitude tracking even in the presence of wind disturbance.

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Robust Backstepping Control Based on Integral Sliding Modes for Tracking of Quadrotors

Cited by 127 publications

References 14 publications

Nonlinear robust sliding mode control of a quadrotor unmanned aerial vehicle based on immersion and invariance method

Nonlinear robust sliding mode control of a quadrotor unmanned aerial vehicle based on immersion and invariance method

Robust Flight Control Using Nonsmooth Optimization for a Tandem Ducted Fan Vehicle

Dynamic modeling and nonlinear tracking control of a novel modified quadrotor

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