LESO Based Backstepping for Quadrotor Trace Tracking with Tracking Error Constraints
Fengjie Gao, Jing Xin, Rui Din
Available Online September 2016.
- 10.2991/icmmbe-16.2016.85How to use a DOI?
- trace tracking control; error constraints; LESO; backstepping; uncertainties
The trace tracking control for quadrotor aircraft with system uncertainties and constraints for output tracking error is addressed. Uncertainties in quadrotor system is estimated by utilizing linear extended state observer. In addition, the backstepping method using barrier Lyapunov function is designed to compensate for quadrotor uncertainties while satisfying output tracking error constraints. In this way, the quadrotor tracking performance is improved. The closed-loop stability of the quadrotor under the proposed observer-controller structure is proven through Lyapunov theory. Efficiency of the proposed method is demonstrated with a quadrotor model subjected to parameter variation and external disturbance.
- © 2016, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Fengjie Gao AU - Jing Xin AU - Rui Din PY - 2016/09 DA - 2016/09 TI - LESO Based Backstepping for Quadrotor Trace Tracking with Tracking Error Constraints BT - Proceedings of the6th International Conference on Mechatronics, Materials, Biotechnology and Environment (ICMMBE 2016) PB - Atlantis Press SP - 457 EP - 467 SN - 2352-5401 UR - https://doi.org/10.2991/icmmbe-16.2016.85 DO - 10.2991/icmmbe-16.2016.85 ID - Gao2016/09 ER -