scholarly journals Height and attitude tracking control of an unmanned helicopter via a HDOB-backstepping composite control method

2019 ◽  
Vol 2019 (22) ◽  
pp. 8303-8309
Author(s):  
Ling Han ◽  
Xiangyu Wang ◽  
Shihua Li ◽  
Jiyu Liu
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Unmanned Helicopter ◽  
Composite Control ◽  
Attitude Tracking ◽  
Attitude Tracking Control

Robust Attitude Tracking Control for a Quadrotor Based on the Uncertainty and Disturbance Estimator

2015 ◽  
Author(s):  
Jiguo Dai ◽  
Qi Lu ◽  
Beibei Ren ◽  
Qing-Chang Zhong
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Controller Design ◽  
Tracking Error ◽  
Experimental Studies ◽  
Attitude Tracking ◽  
Uncertainty And Disturbance Estimator ◽  
Error Dynamics ◽  
Attitude Tracking Control ◽  
Disturbance Estimator

In this paper, a robust control method based on the uncertainty and disturbance estimator (UDE) is developed to achieve the attitude tracking control for a quadrotor. To facilitate the control design, the coupled terms in the roll, pitch and yaw dynamics are lumped into the uncertainty term and the remained dynamics can be regarded as decoupled subsystems. As a result, for each subsystem, the lumped uncertainty term contains all the coupled terms, uncertainties and disturbances, then the UDE method is applied for the uncertainty compensation. Compared with the existing UDE control works, the introduced filtered tracking error dynamics simplifies the controller design and implementation. Furthermore, the stability analysis of the closed-loop system is established and experimental studies are carried out to illustrate the effectiveness of the developed control method.

scholarly journals High accuracy robust attitude tracking control application on quadrotor UAV with the prescribed performance

2020 ◽  
Vol 12 (12) ◽  
pp. 168781402098461
Author(s):  
Jingxin Dou ◽  
Qiansheng Tang ◽  
Bangchun Wen
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Transient State ◽  
High Accuracy ◽  
Superior Performance ◽  
Prescribed Performance ◽  
Quadrotor Uav ◽  
Attitude Tracking ◽  
Feedback Control Method ◽  
Attitude Tracking Control

In this paper, a high accuracy attitude tracking control is presented for a quadrotor unmanned aerial vehicle (UAV) under the model uncertainties and external unpredictable disturbances by using a robust feedback control method. First, the cascade attitude dynamics of a quadrotor UAV is derived with the lumped disturbances. Then, a backstepping adaptive modified robust integral of the sign of the error (RISE) control is designed to improve the robustness of the control system against the disturbances. For arriving high accuracy tracking under the disturbances, a prescribed performance control algorithm is employed in combination to hold the transient state performance where the convergence rate is faster than the prescribed value, and the maximum overshoot is less than the prescribed value. The stability analysis is carried out to prove that the presented controller could guarantee that the closed-loop system is asymptotically stable, and the tracking feedback errors can converge to an arbitrarily small value near zero. The superior performance of the proposed control method is illustrated in simulations against the nonlinear lumped disturbances, and the benefits of the proposed robust controller is corroborated by comparing with the existed controller.

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