Proceedings of the 2018 3rd Joint International Information Technology,Mechanical and Electronic Engineering Conference (JIMEC 2018)

UAV Control System Based on Back-Stepping and Active Disturbance Rejection Control

Authors
Chen Linqi, Li Tinghui
Corresponding Author
Chen Linqi
Available Online December 2018.
DOI
10.2991/jimec-18.2018.28How to use a DOI?
Keywords
Quad-rotor UAV; Back-stepping control; Active disturbance rejection control (ADRC); Nonlinear control; Algorithm combination
Abstract

This paper combines back-stepping and active disturbance rejection control (ADRC) to form an integrated controller for quad-rotor UAV with multiple uncertainties. First, the aerodynamics model of the quad-rotor UAV is analyzed, and the control law of the back-stepping is deduced. Second, after analyzing the back-stepping control law, it can be rewritten and integrated with ADRC. In order to satisfy the demand of back-stepping, finite-time convergent third-order differentiator is used instead of the tracking differentiator (TD).Third, the closed-loop feedback controller for the system is established. Finally, simulation experiments under the MATLAB environment show that the integrated controller improves convergence speed and control precision.

Copyright
© 2019, 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)

Volume Title
Proceedings of the 2018 3rd Joint International Information Technology,Mechanical and Electronic Engineering Conference (JIMEC 2018)
Series
Atlantis Highlights in Engineering
Publication Date
December 2018
ISBN
978-94-6252-647-1
ISSN
2589-4943
DOI
10.2991/jimec-18.2018.28How to use a DOI?
Copyright
© 2019, 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  - Chen Linqi
AU  - Li Tinghui
PY  - 2018/12
DA  - 2018/12
TI  - UAV Control System Based on Back-Stepping and Active Disturbance Rejection Control
BT  - Proceedings of the 2018 3rd Joint International Information Technology,Mechanical and Electronic Engineering Conference (JIMEC 2018)
PB  - Atlantis Press
SP  - 133
EP  - 137
SN  - 2589-4943
UR  - https://doi.org/10.2991/jimec-18.2018.28
DO  - 10.2991/jimec-18.2018.28
ID  - Linqi2018/12
ER  -