Robust Backstepping Trajectory Tracking Control of a Quadrotor with Input Saturation via Extended State Observer
نویسندگان
چکیده
منابع مشابه
Robust Control of a Quadrotor
In this paper, a robust tracking control method for automatic take-off and trajectory tracking of a quadrotor helicopter is presented. The designed controller includes two parts: a position controller and an attitude controller. The attitude controller is designed by using the sliding mode control (SMC) method to track the desired pitch and roll angles, which are the output of position controll...
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The Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC), a fleet of quadrotor helicopters, has been developed as a testbed for novel algorithms that enable autonomous operation of aerial vehicles. This paper develops an autonomous vehicle trajectory tracking algorithm through cluttered environments for the STARMAC platform. A system relying on a single optimization must ...
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n this paper, to overcome the problem of hovering a quadrotor system, under aerodynamic effects, an optimal recursive backstepping controller is designed. One of the main achievements of this study is to propose a nonlinear efficient observer based on extended kalman bucy filter (EKBF) to estimate the unmeasured states of the system. Our control method is robust against perturbations and ensure...
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ژورنال
عنوان ژورنال: Applied Sciences
سال: 2019
ISSN: 2076-3417
DOI: 10.3390/app9235184