Online optimisation-based backstepping control design with application to quadrotor

DOI10.1049/IET-CTA.2015.0976MaRDI QIDQ6920282zbMATH OpenFDO

Authors Cunjia Liu, Matthew Coombes, Lei Guo, Wen-Hua Chen

Publication date 8 October 2025

Published in IET Control Theory \& Applications (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1049/IET-CTA.2015.0976

zbMATH Keywords

autonomous aerial vehiclesB-spline polynomial functioncollision avoidancecomposite control methodcomputationally efficient formcontrol nonlinearitiescontrol system synthesisdifferential flatness propertiesfinite order derivativesinner loop mannerlocal motion planningLyapunov methodLyapunov methodsobstacle avoidanceonline optimisation-based backstepping control designoptimal controloptimal control problemoptimisationouter loop mannerparameterised terminal conditionpolynomialspredictive controlquadrotor unmanned air vehiclereceding horizon control scheme stabilityreceding horizon fashionsplines (mathematics)virtual control signal derivatives

Mathematics Subject Classification ID

Existence theories for free problems in two or more independent variables (49J10) Automated systems (robots, etc.) in control theory (93C85)

Cites work

• A quasi-infinite horizon nonlinear model predictive control scheme with guaranteed stability
• Adaptive dynamic surface control: A simplified algorithm for adaptive backstepping control of nonlinear systems
• Command Filtered Backstepping
• Constrained model predictive control: Stability and optimality
• Constrained predictive pole-placement control with linear models
• Continuous-time non-linear flatness-based predictive control: an exact feedforward linearisation setting with an induction drive example
• Direct method based control system for an autonomous quadrotor
• Exact feedforward linearization based on differential flatness
• Flatness and defect of non-linear systems: introductory theory and examples
• scientific article; zbMATH DE number 981250 (Why is no real title available?)
• Splines and polynomial tools for flatness-based constrained motion planning

Cited in

(3)

• On-line aerodynamic identification of quadrotor and its application to tracking control
• Non-linear adaptive tracking control for quadrotor aerial robots under uncertain dynamics
• Simplified fuzzy-Padé controller for attitude control of quadrotor helicopters

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