In this study, a backstepping-based robust sliding mode control scheme is proposed for quadrotor unmanned aerial vehicle (QUAV) considering the unknown disturbance and input constraint. The adaptive sliding mode control method is adopted to deal with the external disturbance. In order to tackle the input saturation, two auxiliary systems with same dimensions are introduced respectively. In the framework of backstepping control technology, an adaptive sliding mode tracking controller is designed to guarantee that the QUAV is stable and all error signals of the closed-loop system are convergent. Simulation results show that the QUAV has better tracking performance under the proposed control strategy.
Backstepping Sliding Mode Control for Quadrotor Unmanned Aerial Vehicle with Unknown Disturbance and Input Constraint
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Chapter : 143 ; 1441-1451
2022-03-18
11 pages
Article/Chapter (Book)
Electronic Resource
English
Emerald Group Publishing | 2021
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European Patent Office | 2021
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