Backstepping-based Tracking Control for a Coaxial Rotor UAV

Chenyue Zhao; Huihan Lin; Lingbing Feng; Song Bai; Fabao Hu; Liangyu Zhao

doi:10.1109/CAC57257.2022.10055474

Backstepping-based Tracking Control for a Coaxial Rotor UAV

Chenyue Zhao
, Huihan Lin^*
, Lingbing Feng
, Song Bai
, Fabao Hu
, Liangyu Zhao

^*Corresponding author for this work

Beijing Institute of Technology
Institute of China Ordanance Industry
Ltd

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Proceedings - 2022 Chinese Automation Congress, CAC 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5182-5187
Number of pages	6
ISBN (Electronic)	9781665465335
DOIs	https://doi.org/10.1109/CAC57257.2022.10055474
Publication status	Published - 2022
Externally published	Yes
Event	2022 Chinese Automation Congress, CAC 2022 - Xiamen, China Duration: 25 Nov 2022 → 27 Nov 2022

Publication series

Name	Proceedings - 2022 Chinese Automation Congress, CAC 2022
Volume	2022-January

Conference

Conference	2022 Chinese Automation Congress, CAC 2022
Country/Territory	China
City	Xiamen
Period	25/11/22 → 27/11/22

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

Backstepping control
Coaxial rotor
Hierarchical controller
Unmanned Aerial Vehicle

Access to Document

10.1109/CAC57257.2022.10055474

Cite this

Zhao, C., Lin, H., Feng, L., Bai, S., Hu, F., & Zhao, L. (2022). Backstepping-based Tracking Control for a Coaxial Rotor UAV. In Proceedings - 2022 Chinese Automation Congress, CAC 2022 (pp. 5182-5187). (Proceedings - 2022 Chinese Automation Congress, CAC 2022; Vol. 2022-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CAC57257.2022.10055474

@inproceedings{fdc0ebe9b5ae444988c9753315ccbb20,

title = "Backstepping-based Tracking Control for a Coaxial Rotor UAV",

abstract = "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.",

keywords = "Backstepping control, Coaxial rotor, Hierarchical controller, Unmanned Aerial Vehicle",

author = "Chenyue Zhao and Huihan Lin and Lingbing Feng and Song Bai and Fabao Hu and Liangyu Zhao",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 2022 Chinese Automation Congress, CAC 2022 ; Conference date: 25-11-2022 Through 27-11-2022",

year = "2022",

doi = "10.1109/CAC57257.2022.10055474",

language = "English",

series = "Proceedings - 2022 Chinese Automation Congress, CAC 2022",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "5182--5187",

booktitle = "Proceedings - 2022 Chinese Automation Congress, CAC 2022",

address = "United States",

}

Zhao, C, Lin, H, Feng, L, Bai, S, Hu, F & Zhao, L 2022, Backstepping-based Tracking Control for a Coaxial Rotor UAV. in Proceedings - 2022 Chinese Automation Congress, CAC 2022. Proceedings - 2022 Chinese Automation Congress, CAC 2022, vol. 2022-January, Institute of Electrical and Electronics Engineers Inc., pp. 5182-5187, 2022 Chinese Automation Congress, CAC 2022, Xiamen, China, 25/11/22. https://doi.org/10.1109/CAC57257.2022.10055474

Backstepping-based Tracking Control for a Coaxial Rotor UAV. / Zhao, Chenyue; Lin, Huihan; Feng, Lingbing et al.
Proceedings - 2022 Chinese Automation Congress, CAC 2022. Institute of Electrical and Electronics Engineers Inc., 2022. p. 5182-5187 (Proceedings - 2022 Chinese Automation Congress, CAC 2022; Vol. 2022-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

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 - https://www.scopus.com/pages/publications/85151125041

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 -

Backstepping-based Tracking Control for a Coaxial Rotor UAV

Abstract

Publication series

Conference

UN SDGs

Keywords

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