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Three‐Dimensional Constrained Tracking Control Via Exact Differentiation Estimator of a Quadrotor Helicopter
Author(s) -
Ghommam Jawhar,
Charland Guillaume,
Saad Maarouf
Publication year - 2015
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.951
Subject(s) - backstepping , control theory (sociology) , differentiator , controller (irrigation) , trajectory , position (finance) , lyapunov function , underactuation , bounded function , strict feedback form , euler angles , quaternion , tracking (education) , signal (programming language) , computer science , estimator , control engineering , engineering , mathematics , nonlinear system , control (management) , adaptive control , artificial intelligence , physics , pedagogy , computer network , mathematical analysis , bandwidth (computing) , biology , psychology , geometry , quantum mechanics , agronomy , programming language , statistics , finance , astronomy , economics
In this paper, a constructive method is presented to design a three dimensional trajectory tracking controller that forces a quadrotor helicopter to track a bounded and sufficiently smooth reference trajectory asymptotically in the presence of constant force disturbances. The quadrotor helicopter under consideration has fewer independent thrusters than degrees of freedom to be controlled. Motivated by the vehicle's steering practices, the roll and pitch angles are regarded as virtual controls along with four control forces to fulfill the task of position and yaw angle reference tracking. To prevent position constraint violation, the barrier Lyapunov function (BLF) is employed in the vectorial backstepping procedure to guarantee that the position and attitude constraints are not violated. The backstepping procedure employs an exact and robust sliding mode differentiator of order two to facilitate the implementation of the attitude command signal without calculating the virtual control signal derivative analytically.