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

DOI10.1016/J.JFRANKLIN.2018.01.039zbMATH Open1390.93583OpenAlexW2790191058WikidataQ130093605 ScholiaQ130093605MaRDI QIDQ1648044FDOQ1648044

Authors: Rui Wang, Jinkun 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

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zbMATH Keywords

hierarchical controlinput saturationtrajectory tracking control6-DOF quadrotor unmanned aerial vehicle (UAV)globally uniformly ultimately bounded (UUB) stability

Mathematics Subject Classification ID

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

Cites Work

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

Cited In (22)

• Fractional-order global sliding mode controller for an uncertain quadrotor UAVs subjected to external disturbances
• Leader-follower decentralized optimal control for large population hexarotors with tilted propellers: a Stackelberg game approach
• Adaptive neural network finite time control for quadrotor UAV with unknown input saturation
• Robust tracking control of a quadrotor UAV based on adaptive sliding mode controller
• Finite-time adaptive event-triggered command filtered backstepping control for a QUAV
• Fast quasi-sliding mode control of unknown QUAVs: a data-driven cascade control approach
• Adaptive fuzzy control for permanent magnet synchronous motors considering input saturation in electric vehicle stochastic drive systems
• Uncertainty and disturbance estimator-based geometry tracking control for quadrotors without linear velocity measurements
• Finite-time terminal sliding mode tracking control of a VTOL UAV via the generalized NDOB
• Trajectory tracking anti-disturbance control for unmanned aerial helicopter based on disturbance characterization index
• Fixed-time controller design for a quadrotor UAV with asymmetric output error constraints
• Distributed adaptive Nash equilibrium seeking and disturbance rejection for noncooperative games of high‐order nonlinear systems with input saturation and input delay
• Fast finite-time backstepping for helicopters under input constraints and perturbations
• Command filter-based adaptive fuzzy integral backstepping control for quadrotor UAV with input saturation
• Robust trajectory tracking control for a quadrotor subject to disturbances and model uncertainties
• Adaptive fixed-time control of autonomous VTOL UAVs for ship landing operations
• Composite adaptive finite-time control for quadrotors via prescribed performance
• Global trajectory tracking for quadrotors: an MRP-based hybrid strategy with input saturation
• Research on the control of thrust vectoring turbojet aircraft with uncertainties and input saturation based on fixed-time control
• Super-twisting observer-based sliding mode control with fuzzy variable gains and its applications to fully-actuated hexarotors
• Novel auxiliary saturation compensation design for neuroadaptive NTSM tracking control of high speed trains with actuator saturation
• Finite-time path following control for small-scale fixed-wing UAVs under wind disturbances

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