An adaptive backstepping based trajectory tracking control is proposed to improve the anti-interference ability and robustness and guarantee accurate trajectory tracking. Firstly, a double-loop control system is proposed to handle the weak coupling and under-actuated characteristics; and an adaptive backstepping is designed to improve the position control loop trajectory tracking ability; besides, an adaptive integral backstepping control is proposed to guarantee the good robustness and stability; lastly, the simulation result is given to verify the feasibility and effectiveness for trajectory tracking of quadrotor UAV with the uncertainty disturbance.


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    Titel :

    Adaptive Backstepping-Based Trajectory Tracking Control for Quadrotor UAV with Uncertainty Disturbance


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Yan, Liang (Herausgeber:in) / Duan, Haibin (Herausgeber:in) / Yu, Xiang (Herausgeber:in) / Chen, Zhiming (Autor:in) / Liu, Longwu (Autor:in) / Luo, Zhouhuai (Autor:in)


    Erscheinungsdatum :

    2021-10-30


    Format / Umfang :

    12 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





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