UM
Status即將出版Forthcoming
Affiliated with RCfalse
Adaptive Backstepping Control of a Quadcopter with Uncertain Vehicle Mass, Moment of Inertia, and Disturbances
Wei Xie1; David Cabecinhas2; Rita Cunha3; Carlos Silvestre4
2021-02-02
Source PublicationIEEE Transactions on Industrial Electronics
ISSN0278-0046
Abstract

In this paper, we propose a solution to the problem of path following for a quadcopter aircraft with unknown vehicle parameters (mass, moment of inertia) and external disturbances. By employing the backstepping technique, the proposed adaptive control strategy guarantees that (i) the quadcopter is globally steered towards, and kept within, an arbitrarily small neighborhood of a desired smooth path, achieving global uniformly ultimately boundedness; (ii) compared to trajectory tracking, a smoother convergence is obtained as (1) the control actuation signals (thrust force and torque) are bounded with respect to the position error, and (2) the designed timing law ensures that the desired path starts to move only when the vehicle gets close to the desired path; (iii) a single adaptive control law can be used for accurate motion control of aerial vehicles with a wide range of inertial properties, without the need for retuning control gains or other parameters. Moreover, the controller is also made robust to external constant and slowly time-varying disturbances through the design of disturbance estimators. To demonstrate the effectiveness and performance of the proposed control strategies, simulation and experimental results are presented and analyzed.

KeywordRobust Flight Control Quadcopter Aircraft Model Uncertainties Disturbances Estimator Design
DOI10.1109/TIE.2021.3055181
URLView the original
Language英語English
Scopus ID2-s2.0-85100757628
Fulltext Access
Citation statistics
Cited Times [WOS]:0   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Affiliation1.Faculty of Science and Technology, University of Macau, 59193 Taipa, Macao, (e-mail: weixie@um.edu.mo)
2.Universidade de Lisboa Instituto Superior Tecnico, 72971 Lisboa, Portugal, 1049-001 (e-mail: dcabecinhas@isr.tecnico.ulisboa.pt)
3.Instituto Superior Tecnico, Universidade de Lisboa, 37809 Lisboa, Lisboa, Portugal, (e-mail: rita@isr.tecnico.ulisboa.pt)
4.University of Macau, 59193 Taipa, Macau, China, (e-mail: csilvestre@um.edu.mo)
First Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
Wei Xie,David Cabecinhas,Rita Cunha,et al. Adaptive Backstepping Control of a Quadcopter with Uncertain Vehicle Mass, Moment of Inertia, and Disturbances[J]. IEEE Transactions on Industrial Electronics,2021.
APA Wei Xie,David Cabecinhas,Rita Cunha,&Carlos Silvestre.(2021).Adaptive Backstepping Control of a Quadcopter with Uncertain Vehicle Mass, Moment of Inertia, and Disturbances.IEEE Transactions on Industrial Electronics.
MLA Wei Xie,et al."Adaptive Backstepping Control of a Quadcopter with Uncertain Vehicle Mass, Moment of Inertia, and Disturbances".IEEE Transactions on Industrial Electronics (2021).
Files in This Item:
There are no files associated with this item.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Wei Xie]'s Articles
[David Cabecinhas]'s Articles
[Rita Cunha]'s Articles
Baidu academic
Similar articles in Baidu academic
[Wei Xie]'s Articles
[David Cabecinhas]'s Articles
[Rita Cunha]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Wei Xie]'s Articles
[David Cabecinhas]'s Articles
[Rita Cunha]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.