基于积分反步法的四旋翼滑模轨迹跟踪算法

Shiyu Zheng; Xiaolin Ai; Di Yang; Zhenyue Jia; Jianqiao Yu

doi:10.3969/j.issn.1001-506X.2019.03.25

基于积分反步法的四旋翼滑模轨迹跟踪算法

Translated title of the contribution: Integral backstepping based sliding mode trajectory tracking algorithm for quadrotor

Shiyu Zheng
, Xiaolin Ai
, Di Yang
, Zhenyue Jia
, Jianqiao Yu

School of Aerospace Engineering

Beijing Institute of Technology

Research output: Contribution to journal › Article › peer-review

8 Citations (Scopus)

Abstract

An integral backstepping based sliding mode position controller is designed to solve the tracking error caused by the unknown disturbance on the quadrotor. In this control system, the sliding mode integral backstepping (IBS-SMC) nonlinear control method is adopted in the position control loop, and the classical proportion integration differentiation (PID) control method is adopted in the attitude control loop. The PID, linear quadratic regulator and IBS-SMC methods are compared by simulation. The simulation results show that compared with the traditional methods, the IBS-SMC method has a better anti-interference ability and control accuracy. Finally, the feasibility of the control algorithm is verified by flight experiments. The experimental results show that the IBS-SMC method is a control method that accords with engineering practice.

Translated title of the contribution	Integral backstepping based sliding mode trajectory tracking algorithm for quadrotor
Original language	Chinese (Traditional)
Pages (from-to)	643-650
Number of pages	8
Journal	Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics
Volume	41
Issue number	3
DOIs	https://doi.org/10.3969/j.issn.1001-506X.2019.03.25
Publication status	Published - 1 Mar 2019

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title = "基于积分反步法的四旋翼滑模轨迹跟踪算法",

abstract = "An integral backstepping based sliding mode position controller is designed to solve the tracking error caused by the unknown disturbance on the quadrotor. In this control system, the sliding mode integral backstepping (IBS-SMC) nonlinear control method is adopted in the position control loop, and the classical proportion integration differentiation (PID) control method is adopted in the attitude control loop. The PID, linear quadratic regulator and IBS-SMC methods are compared by simulation. The simulation results show that compared with the traditional methods, the IBS-SMC method has a better anti-interference ability and control accuracy. Finally, the feasibility of the control algorithm is verified by flight experiments. The experimental results show that the IBS-SMC method is a control method that accords with engineering practice.",

keywords = "Flight experiment, Integral backstepping (IBS), Quadrotor, Sliding mode control (SMC), Trajectory tracking",

author = "Shiyu Zheng and Xiaolin Ai and Di Yang and Zhenyue Jia and Jianqiao Yu",

year = "2019",

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day = "1",

doi = "10.3969/j.issn.1001-506X.2019.03.25",

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TY - JOUR

T1 - 基于积分反步法的四旋翼滑模轨迹跟踪算法

AU - Zheng, Shiyu

AU - Ai, Xiaolin

AU - Yang, Di

AU - Jia, Zhenyue

AU - Yu, Jianqiao

PY - 2019/3/1

Y1 - 2019/3/1

N2 - An integral backstepping based sliding mode position controller is designed to solve the tracking error caused by the unknown disturbance on the quadrotor. In this control system, the sliding mode integral backstepping (IBS-SMC) nonlinear control method is adopted in the position control loop, and the classical proportion integration differentiation (PID) control method is adopted in the attitude control loop. The PID, linear quadratic regulator and IBS-SMC methods are compared by simulation. The simulation results show that compared with the traditional methods, the IBS-SMC method has a better anti-interference ability and control accuracy. Finally, the feasibility of the control algorithm is verified by flight experiments. The experimental results show that the IBS-SMC method is a control method that accords with engineering practice.

AB - An integral backstepping based sliding mode position controller is designed to solve the tracking error caused by the unknown disturbance on the quadrotor. In this control system, the sliding mode integral backstepping (IBS-SMC) nonlinear control method is adopted in the position control loop, and the classical proportion integration differentiation (PID) control method is adopted in the attitude control loop. The PID, linear quadratic regulator and IBS-SMC methods are compared by simulation. The simulation results show that compared with the traditional methods, the IBS-SMC method has a better anti-interference ability and control accuracy. Finally, the feasibility of the control algorithm is verified by flight experiments. The experimental results show that the IBS-SMC method is a control method that accords with engineering practice.

KW - Flight experiment

KW - Integral backstepping (IBS)

KW - Quadrotor

KW - Sliding mode control (SMC)

KW - Trajectory tracking

UR - https://www.scopus.com/pages/publications/85068415579

U2 - 10.3969/j.issn.1001-506X.2019.03.25

DO - 10.3969/j.issn.1001-506X.2019.03.25

M3 - 文章

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SN - 1001-506X

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JO - Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics

JF - Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics

IS - 3

ER -

基于积分反步法的四旋翼滑模轨迹跟踪算法

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