Name
Abstract | ||
|---|---|---|
In this paper, we deal with the stability and tracking control problem of quadrotor unmanned aerial vehicle (UAV) in the presence of the modeling error and disturbance uncertainty. The flight tracking control system combines classical proportional-derivative (PD) like term with robust and adaptive control term. Lyapunov method is used to design and show the asymptotic behavior of the linear and angular states of the vehicle. In contrast with other existing adaptive backstepping design, the proposed design is very simple and easy to implement as it does not require multiple design steps without using augmented signals and known bound of the uncertainty. Various experimental results on quadrotor UAV system are presented to demonstrate the effectiveness of the proposed design for real-time application. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1109/ICRA.2015.7139417 | IEEE International Conference on Robotics and Automation |
Keywords | Field | DocType |
Lyapunov methods,PD control,adaptive control,aircraft control,autonomous aerial vehicles,helicopters,robust control,uncertain systems,Lyapunov method,PD like term,angular state,asymptotic behavior,disturbance uncertainty,flight tracking control system,linear state,modeling error,proportional-derivative like term,quadrotor UAV system,quadrotor unmanned aerial vehicle,robust adaptive control,stability,tracking control problem,Lyapunov Method,Quadrotor Unmanned Aerial Vehicle,Robust Adaptive Control | Lyapunov function,Backstepping,Algorithm design,Control theory,Control engineering,Vehicle dynamics,Control system,Adaptive control,Engineering,Asymptotic analysis,Aerodynamics | Conference |
Volume | Issue | ISSN |
2015 | 1 | 1050-4729 |
Citations | PageRank | References |
1 | 0.38 | 9 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| S. Islam | 1 | 45 | 7.07 |
| Faraz, M. | 2 | 1 | 0.38 |
| Ashour, R.K. | 3 | 2 | 2.12 |
| Jorge Dias | 4 | 175 | 33.83 |