Trajectory tracking control of a 6-DOF quadrotor UAV with input saturation via backstepping

DOI10.1016/j.jfranklin.2018.01.039zbMath1390.93583OpenAlexW2790191058MaRDI QIDQ1648044

Rui Wang, Jin-Kun Liu

Publication date: 27 June 2018

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.jfranklin.2018.01.039

zbMATH Keywords

input saturationhierarchical controltrajectory tracking control6-DOF quadrotor unmanned aerial vehicle (UAV)globally uniformly ultimately bounded (UUB) stability

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Hierarchical systems (93A13)

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Cites Work

• A novel nonlinear resilient control for a quadrotor UAV via backstepping control and nonlinear disturbance observer
• Controlling the inverted pendulum by means of a nested saturation function
• Global trajectory tracking control of VTOL-UAVs without linear velocity measurements
• An integral predictive/nonlinear \(\mathcal H_{\infty}\) control structure for a quadrotor helicopter
• Adaptive nonlinear control without overparametrization
• Spacecraft relative rotation tracking without angular velocity measurements
• Global stabilization of a PVTOL aircraft model with bounded inputs
• Simple Tracking Controllers for Autonomous VTOL Aircraft With Bounded Inputs
• Antiwindup for stable linear systems with input saturation: An LMI-based synthesis
• Trajectory-Tracking and Path-Following of Underactuated Autonomous Vehicles With Parametric Modeling Uncertainty
• Robust Adaptive Control of Uncertain Nonlinear Systems in the Presence of Input Saturation and External Disturbance
• The Trajectory Tracking Problem of Quadrotor <scp>UAV</scp>: Global Stability Analysis and Control Design Based on the Cascade Theory

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