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Integral backstepping control for trajectory and yaw motion tracking of quadrotors

Published online by Cambridge University Press:  05 October 2018

Alexander Poultney ,
Peiyan Gong  and
Hashem Ashrafiuon
Alexander Poultney
Affiliation:
Villanova University, Center for Nonlinear Dynamics and Control Villanova, PA 19085. E-mails: apoult01@villanova.edu, pgong@villanova.edu
Peiyan Gong
Affiliation:
Villanova University, Center for Nonlinear Dynamics and Control Villanova, PA 19085. E-mails: apoult01@villanova.edu, pgong@villanova.edu
Hashem Ashrafiuon*
Affiliation:
Villanova University, Center for Nonlinear Dynamics and Control Villanova, PA 19085. E-mails: apoult01@villanova.edu, pgong@villanova.edu
*
*Corresponding author. E-mail: hashem.ashrafiuon@villanova.edu.
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Summary

This work presents a novel trajectory tracking, hovering, and yaw motion control for quadrotors subject to unknown modeling uncertainties and disturbances. Nonlinear equations of motion are used to model the quadrotor's motion without any simplifying assumptions. An integral backstepping control is developed by defining the tracking errors, their integral, and their first through third time derivatives as the system states. The resulting surge force and roll and pitch moments are shown to asymptotically stabilize the error states subject to bounded disturbances and modeling uncertainties. Similarly, a yaw moment is derived through integral backstepping that simultaneously stabilizes yaw motion errors. The controller performance in simultaneous trajectory and yaw motion tracking is verified through both simulations and experiments.

Keywords

Quadrotor controlTrajectory trackingIntegral backstepping control
Type
Articles
Information
Robotica , Volume 37 , Issue 2 , February 2019 , pp. 300 - 320
Copyright
Copyright © Cambridge University Press 2018 

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