TY - GEN
T1 - Backstepping-based Tracking Control for a Coaxial Rotor UAV
AU - Zhao, Chenyue
AU - Lin, Huihan
AU - Feng, Lingbing
AU - Bai, Song
AU - Hu, Fabao
AU - Zhao, Liangyu
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - This paper takes a coaxial rotor Unmanned Aerial Vehicle (UAV) as the research object, the problem of controlling the position and orientation of this UAV is solved. The nonlinear mathematical model of the coaxial rotor UAV is novelty present and a hierarchical controller is adopted to solve this problem. The controller includes the attitude controller of inner loop and the position controller of outer loop, which are both adopting backstepping control technique to track the reference position. Numerical simulations present that the coaxial rotor UAV can perfectly track the predefined trajectory, which demonstrates the good performance of the designed control strategy.
AB - This paper takes a coaxial rotor Unmanned Aerial Vehicle (UAV) as the research object, the problem of controlling the position and orientation of this UAV is solved. The nonlinear mathematical model of the coaxial rotor UAV is novelty present and a hierarchical controller is adopted to solve this problem. The controller includes the attitude controller of inner loop and the position controller of outer loop, which are both adopting backstepping control technique to track the reference position. Numerical simulations present that the coaxial rotor UAV can perfectly track the predefined trajectory, which demonstrates the good performance of the designed control strategy.
KW - Backstepping control
KW - Coaxial rotor
KW - Hierarchical controller
KW - Unmanned Aerial Vehicle
UR - http://www.scopus.com/inward/record.url?scp=85151125041&partnerID=8YFLogxK
U2 - 10.1109/CAC57257.2022.10055474
DO - 10.1109/CAC57257.2022.10055474
M3 - Conference contribution
AN - SCOPUS:85151125041
T3 - Proceedings - 2022 Chinese Automation Congress, CAC 2022
SP - 5182
EP - 5187
BT - Proceedings - 2022 Chinese Automation Congress, CAC 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 Chinese Automation Congress, CAC 2022
Y2 - 25 November 2022 through 27 November 2022
ER -
