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)

zbMATH Keywords

optimisationoptimal controlcollision avoidancepolynomialspredictive controlLyapunov methodLyapunov methodsoptimal control problemobstacle avoidancecontrol system synthesiscontrol nonlinearitiesautonomous aerial vehiclesdifferential flatness propertiescomposite control methodsplines (mathematics)B-spline polynomial functioncomputationally efficient formfinite order derivativesinner loop mannerlocal motion planningonline optimisation-based backstepping control designouter loop mannerparameterised terminal conditionquadrotor unmanned air vehiclereceding horizon control scheme stabilityreceding horizon fashionvirtual control signal derivatives

Mathematics Subject Classification ID

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

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