Backstepping approach for controlling a quadrotor using Lagrange form dynamics

DOI10.1007/S10846-009-9331-0zbMATH Open1203.68222OpenAlexW2019271926MaRDI QIDQ614698FDOQ614698

Abhijit Das, Kamesh Subbarao, Frank L. Lewis

Publication date: 4 January 2011

Published in: Journal of Intelligent \& Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s10846-009-9331-0

zbMATH Keywords

Adaptive controlNeural networkBack steppingKinematic inversionLyapunov candidateQuadrotor

Mathematics Subject Classification ID

Learning and adaptive systems in artificial intelligence (68T05) Artificial intelligence for robotics (68T40) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

• Systematic design of adaptive controllers for feedback linearizable systems
• Multilayer feedforward networks are universal approximators
• Global stabilization of a PVTOL aircraft model with bounded inputs
• Robust trajectory tracking for a scale model autonomous helicopter
• Adaptive control of mechanical impedance by coactivation of antagonist muscles
• Title not available (Why is that?)
• Stabilization of a mini rotorcraft with four rotors

Cited In (21)

• Stabilisation of quadrotor aircraft with constrained controls
• Adaptive control of a quadrotor aerial vehicle with input constraints and uncertain parameters
• Robust nonlinear control for path tracking of a quad-rotor helicopter
• Nonlinear and Adaptive Intelligent Control Techniques for Quadrotor UAV – A Survey
• Finite time position and heading tracking control of coaxial octorotor based on extended inverse multi-quadratic radial basis function network and external disturbance observer
• Fast finite-time backstepping for helicopters under input constraints and perturbations
• Design and simulation of a hybrid PD-ANFIS controller for attitude tracking control of a quadrotor UAV
• A fuzzy adaptive backstepping control based on mass observer for trajectory tracking of a quadrotor UAV
• Adaptive sliding mode robust control based on multi-dimensional Taylor network for trajectory tracking of quadrotor UAV
• Attitude tracking control of a quadrotor UAV in the exponential coordinates
• Stabilization of desired motion of a quadrotor helicopter
• An IDRA approach for modeling helicopter based on Lagrange dynamics
• Asymptotic vision-based tracking control of the quadrotor aerial vehicle
• Prescribed performance dynamic surface control for trajectory tracking of quadrotor UAV with uncertainties and input constraints
• On Trajectory Tracking Model Predictive Control of an Unmanned Quadrotor Helicopter Subject to Aerodynamic Disturbances
• A novel nonlinear resilient control for a quadrotor UAV via backstepping control and nonlinear disturbance observer
• Closed-form nonlinear tracking controllers for quadrotors with model and input generator uncertainties
• Adaptive and robust control of quadrotor aircrafts with input saturation
• Continuous Sliding Mode Control of a Quadrotor
• Adaptive neural network sliding mode control for quad tilt rotor aircraft
• Robust command filtered adaptive backstepping control for a quadrotor aircraft

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