Antisaturation Command Filtered Backstepping Control-Based Disturbance Rejection for a Quadarotor UAV

doi:10.1109/TCSII.2021.3069967

	Antisaturation Command Filtered Backstepping Control-Based Disturbance Rejection for a Quadarotor UAV
	Liu, Kang 1,2,3; Wang, Rujing 1,2
刊名	IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
	2021-12-01
卷号	68
关键词	Backstepping Unmanned aerial vehicles Symmetric matrices Vehicle dynamics Upper bound Circuits and systems Stability analysis Command filtered backstepping control disturbance observer based state estimator input saturation quadrotor unmanned aerial vehicle
ISSN号	1549-7747
DOI	10.1109/TCSII.2021.3069967
通讯作者	Liu, Kang(xinxilk@mail.ustc.edu.cn)
英文摘要	This brief investigates the tracking control problem of the quadrotor unmanned aerial vehicle considering the disturbance and input saturation. According to the hierarchical control principle, the quadrotor dynamics is decomposed into position and attitude loops to accommodate the controller design. To overcome the disturbance, two disturbance observer-based state estimators are designed in two loops, respectively. By integrating the filtering-error compensation mechanism and auxiliary control system into the dynamic surface control, the input saturation and filtering errors can be solved. In addition, the tracking errors of the closed-loop system can converge to the origin. Finally, simulation results show the validity of the proposed control formulation.
资助项目	National Natural Science Foundation of China[31671586]
WOS关键词	TRAJECTORY TRACKING CONTROL ; QUADROTOR UAV ; SYSTEMS
WOS研究方向	Engineering
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000722063600025
资助机构	National Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.hfcas.ac.cn:8080/handle/334002/126706]
专题	中国科学院合肥物质科学研究院
通讯作者	Liu, Kang
作者单位	1.Chinese Acad Sci, Inst Intelligent Machines, Intelligent Agr Engn Lab Anhui Prov, Hefei 230031, Peoples R China 2.Chinese Acad Sci, Hefei Inst Phys Sci, Hefei 230031, Peoples R China 3.Univ Sci & Technol China, Hefei 230026, Peoples R China
推荐引用方式 GB/T 7714	Liu, Kang,Wang, Rujing. Antisaturation Command Filtered Backstepping Control-Based Disturbance Rejection for a Quadarotor UAV[J]. IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS,2021,68.
APA	Liu, Kang,&Wang, Rujing.(2021).Antisaturation Command Filtered Backstepping Control-Based Disturbance Rejection for a Quadarotor UAV.IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS,68.
MLA	Liu, Kang,et al."Antisaturation Command Filtered Backstepping Control-Based Disturbance Rejection for a Quadarotor UAV".IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS 68(2021).