Adaptive Command Filtered Backstepping Trajectory Tracking Control of Hexarotor UAV

DOI

10.2991/ammsa-17.2017.91How to use a DOI?

Keywords

Hexarotor UAV, trajectory tracking control, backstepping, adaptive, command filter

Abstract

In this paper, a hexarotor unmanned aerial vehicle (UAV) is concerned to solve such problems as smaller payload capacity, lack of both hardware redundancy and anti-crosswind capability for quad-rotor. Considering the under-actuated and strong coupling nonlinear system with external disturbance and parameter uncertainty properties of the hexarotor UAV, a nested double-loops trajectory tracking control strategy is proposed. A position error PID controller is designed as the outer-loop controller, of which the task is to compare the desired trajectory with real position of the hexarotor UAV and export the desired attitude angles to the inner-loop. And, an adaptive command-filtered backstepping controller is designed as the inner-loop controller which makes use of parameter update laws to estimate the disturbances of the hexarotor UAV. The simulation results show that the proposed control strategy enhances the trajectory tracking performance by controlling the external disturbance and parameter uncertainty.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Chengshun Yang
AU  - Zhong Yang
PY  - 2017/05
DA  - 2017/05
TI  - Adaptive Command Filtered Backstepping Trajectory Tracking Control of Hexarotor UAV
BT  - Proceedings of the 2017 International Conference on Applied Mathematics, Modelling and Statistics Application (AMMSA 2017)
PB  - Atlantis Press
SP  - 403
EP  - 409
SN  - 1951-6851
UR  - https://doi.org/10.2991/ammsa-17.2017.91
DO  - 10.2991/ammsa-17.2017.91
ID  - Yang2017/05
ER  -