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.
Adaptive Backstepping-Based Trajectory Tracking Control for Quadrotor UAV with Uncertainty Disturbance
Lect. Notes Electrical Eng.
2021-10-30
12 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
A nonlinear quadrotor trajectory tracking controller with disturbance rejection
Tema Archiv | 2014
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