Open AccessRobust backstepping‐based trajectory tracking control for quadrotors with time delays
Author(s) -
Liu Hao,
Zhao Wanbing,
Hong Sheng,
Lewis Frank L.,
Yu Yao
Publication year - 2019
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2018.6043
Subject(s) - control theory (sociology) , backstepping , trajectory , parametric statistics , computer science , robust control , cascade , robustness (evolution) , controller (irrigation) , tracking (education) , control engineering , control system , control (management) , mathematics , engineering , adaptive control , artificial intelligence , pedagogy , psychology , physics , astronomy , electrical engineering , chemistry , biology , biochemistry , agronomy , statistics , chemical engineering , gene
In this brief, the robust trajectory tracking control problem is addressed for uncertain quadrotor systems with time delays. The quadrotor dynamical model is an under‐actuated system subject to non‐linearity, unmodelled uncertainties, parametric perturbations, external disturbances, and state and input time delays. A robust cascade trajectory tracking controller is developed by the backstepping method and the robust compensation theory. Theoretical analysis is given to prove that the tracking errors can converge into the given neighbourhood of the origin ultimately. An on‐line unidirectional tuning method is given to determine the controller parameters. Experimental results are provided to verify the effectiveness of the proposed control approach and the parameter tuning method.