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	Trajectory tracking control of a quad-rotor UAV based on command filtered backstepping (EI CONFERENCE)
	Gong X. ; Bai Y. ; Peng C. ; Zhao C. ; Tian Y.
	2012
会议名称	2012 3rd International Conference on Intelligent Control and Information Processing, ICICIP 2012, July 15, 2012 - July 17, 2012
会议地点	Dalian, China
关键词	A quad-rotor unmanned aerial vehicle is an under-actuated strong coupled nonlinear system with parameters uncertainty and unknown external aerodynamic disturbance. The trajectory tracking control system with a nested double-loops structure is designed in this paper according to the coupling characteristic between the attitude angles and translational position. A PD control algorithm is proposed in the translational outer-loop to export the desired attitude signals to the attitude inner-loop. An adaptive backstepping control algorithm is designed in the inner-loop with respect to the uncertain rotational inertia and un-modeled disturbance while in order to reduce the computational complexity the command filtered approach is introduced into the designing procedure. And finally the numerical simulation results are presented for the trajectory tracking stabilization of a Quad-rotor which demonstrates the excellent performance of the proposed control system and illustrate its robustness in face of disturbance and uncertain parameters. 2012 IEEE.
页码	179-184
收录类别	EI
内容类型	会议论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/33086]
专题	长春光学精密机械与物理研究所_中科院长春光机所知识产出_会议论文
推荐引用方式 GB/T 7714	Gong X.,Bai Y.,Peng C.,et al. Trajectory tracking control of a quad-rotor UAV based on command filtered backstepping (EI CONFERENCE)[C]. 见:2012 3rd International Conference on Intelligent Control and Information Processing, ICICIP 2012, July 15, 2012 - July 17, 2012. Dalian, China.

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