Paper Info
Title
Backstepping control with sliding mode estimation for a hexacopter
Abstract
This paper presents the dynamic nonlinear model and the design of a controller for a hexarotor aerial robot. The control algorithm is based on the backstepping technique and it is applied to the trajectory tracking problem. The wind parameters resulting from the aerodynamic forces and moments acting on the hexacopter are estimated via a sliding mode observer with the super twisting algorithm in order to ensure robustness against aerial external disturbances and parameter variations. The performance and effectiveness of the proposed controller are tested in a simulation study taking into account external disturbances which are function of time.
Year
DOI
Venue
2013
10.1109/ICEEE.2013.6676026
Electrical Engineering, Computing Science and Automatic Control
Keywords
Field
DocType
aerodynamics,aerospace robotics,control system synthesis,helicopters,nonlinear dynamical systems,observers,robust control,trajectory control,variable structure systems,wind,aerial external disturbances,aerodynamic forces,backstepping control,backstepping technique,control algorithm,controller design,dynamic nonlinear model,hexacopter,hexarotor aerial robot,moments,parameter variations,robustness,sliding mode estimation,sliding mode observer,super twisting algorithm,trajectory tracking problem,wind parameters,backstepping,hexacopter,nonlinear control,parameter estimation,sliding mode
Backstepping,Control theory,Control theory,Computer science,Robustness (computer science),Control engineering,Aerodynamic force,Observer (quantum physics),Robust control,Trajectory,Sliding mode control
Conference
ISBN
Citations 
PageRank 
978-1-4799-1460-9
3
0.52
References 
Authors
0
7
Name
Order
Citations
PageRank
Carlos A. Arellano-Muro141.00
Luis F. Luque-Vega2305.73
Bernardino Castillo-Toledo326631.01
Alexander G. Loukianov431647.55
Arellano-Muro, C.A.530.52
Luque-Vega, L.F.630.52
Castillo-Toledo, B.771.35