NDLI: Robust backstepping-based trajectory tracking control for quadrotors with time delays

Content Provider	IET Digital Library
Author	Liu, Hao Zhao, Wanbing Hong, Sheng Lewis, Frank L. Yu, Yao
Abstract	In this brief, the robust trajectory tracking control problem is addressed for uncertain quadrotor systems with time delays. The quadrotor dynamical model is an under-actuated system subject to non-linearity, unmodelled uncertainties, parametric perturbations, external disturbances, and state and input time delays. A robust cascade trajectory tracking controller is developed by the backstepping method and the robust compensation theory. Theoretical analysis is given to prove that the tracking errors can converge into the given neighbourhood of the origin ultimately. An on-line unidirectional tuning method is given to determine the controller parameters. Experimental results are provided to verify the effectiveness of the proposed control approach and the parameter tuning method.
Starting Page	1945
Ending Page	1954
Page Count	10
ISSN	17518644
Volume Number	13
e-ISSN	17518652
Issue Number	Issue 12, Aug (2019)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/13/12
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2018.6043
Journal	IET Control Theory & Applications
Publisher Date	2019-06-07
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Adaptive Control Aerospace Control Aircraft Control Backstepping Method Control Approach Control Nonlinearities Control System Analysis Control System Synthesis Controller Parameter Helicopters Input Time Delay Nonlinear Control System Nonlinearity On-line Unidirectional Tuning Method Position Control Quadrotor Dynamical Model Quadrotors Robust Backstepping-based Trajectory Tracking Control Robust Cascade Trajectory Tracking Controller Robust Compensation Theory Robust Control Robust Trajectory Tracking Control Problem Self Adjusting Control System Spatial Variables Control Stability in Control Theory State Synthesis Method Tracking Tracking Error Uncertain Quadrotor System Uncertain System Under-actuated System Subject Unmodelled Uncertainties
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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