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

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....

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Bibliographic Details
Published in:IEEE transactions on circuits and systems. II, Express briefs Express briefs, 2021-12, Vol.68 (12), p.3577-3581
Main Authors: Liu, Kang, Wang, Rujing
Format: Article
Language:English
Subjects:
Backstepping
Command filtered backstepping control
Control systems design
disturbance observer based state estimator
Disturbance observers
Error compensation
Feedback control
Filtration
input saturation
quadrotor unmanned aerial vehicle
Saturation
Stability analysis
State estimation
Tracking control
Tracking errors
Unmanned aerial vehicles
Unmanned helicopters
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Summary: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.
ISSN:1549-7747
1558-3791
DOI:10.1109/TCSII.2021.3069967