z-logo
Premium
Disturbance observer‐based nonlinear control of a quadrotor UAV
Author(s) -
Moeini Amir,
Lynch Alan F.,
Zhao Qing
Publication year - 2020
Publication title -
advanced control for applications: engineering and industrial systems
Language(s) - English
Resource type - Journals
ISSN - 2578-0727
DOI - 10.1002/adc2.24
Subject(s) - backstepping , control theory (sociology) , nonlinear system , tracking error , tracking (education) , position tracking , computer science , bounded function , observer (physics) , trajectory , torque , position (finance) , control engineering , control (management) , engineering , mathematics , adaptive control , actuator , artificial intelligence , physics , quantum mechanics , psychology , mathematical analysis , pedagogy , finance , astronomy , economics , thermodynamics
Abstract This paper proposes a nonlinear backstepping‐based trajectory tracking control for a quadrotor unmanned aerial vehicle. By incorporating a disturbance observer, the method provides globally exponentially stable tracking error dynamics in the presence of constant force and torque disturbances for position tracking. For time‐varying disturbances, the tracking error is proven to be ultimately bounded. Simulation results illustrates the robust performance and reduced complexity of the proposed control law.

This content is not available in your region!

Continue researching here.

Having issues? You can contact us here