LESO Based Backstepping for Quadrotor Trace Tracking with Tracking Error Constraints

DOI

10.2991/icmmbe-16.2016.85How to use a DOI?

Keywords

trace tracking control; error constraints; LESO; backstepping; uncertainties

Abstract

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.

Copyright

© 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/).

Download article (PDF)

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  -