Differential Backstepping Control for Quadrotor Aircraft

Jianan Wang; Jingze Zhang; Chunyu Li; Weihao Song; Li Liang; Chunyan Wang

doi:10.1007/978-981-19-3998-3_30

Differential Backstepping Control for Quadrotor Aircraft

Jianan Wang, Jingze Zhang, Chunyu Li, Weihao Song, Li Liang^*, Chunyan Wang

^*Corresponding author for this work

School of Aerospace Engineering

Beijing Institute of Technology

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

Abstract

This paper addresses a differential backstepping control strategy for the trajectory tracking of a quadrotor aircraft. We introduce the virtual Lyapunov function with a differential item to design the proposed control strategy which eliminates the high-frequency chattering during the take-off maneuver and largely reduces the number of control parameters. Simulation examples are respectively performed on a low-order and a high-order trajectory tracking scenarios that verify the superiority of the proposed strategy.

Original language	English
Title of host publication	Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control
Editors	Zhang Ren, Yongzhao Hua, Mengyi Wang
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	305-314
Number of pages	10
ISBN (Print)	9789811939976
DOIs	https://doi.org/10.1007/978-981-19-3998-3_30
Publication status	Published - 2023
Event	5th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2021 - Shenzhen, China Duration: 19 Jan 2022 → 22 Jan 2022

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	934 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	5th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2021
Country/Territory	China
City	Shenzhen
Period	19/01/22 → 22/01/22

Keywords

Differential backstepping control
Quadrotor control
Trajectory tracking

Access to Document

10.1007/978-981-19-3998-3_30

Cite this

Wang, J., Zhang, J., Li, C., Song, W., Liang, L., & Wang, C. (2023). Differential Backstepping Control for Quadrotor Aircraft. In Z. Ren, Y. Hua, & M. Wang (Eds.), Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control (pp. 305-314). (Lecture Notes in Electrical Engineering; Vol. 934 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-19-3998-3_30

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title = "Differential Backstepping Control for Quadrotor Aircraft",

abstract = "This paper addresses a differential backstepping control strategy for the trajectory tracking of a quadrotor aircraft. We introduce the virtual Lyapunov function with a differential item to design the proposed control strategy which eliminates the high-frequency chattering during the take-off maneuver and largely reduces the number of control parameters. Simulation examples are respectively performed on a low-order and a high-order trajectory tracking scenarios that verify the superiority of the proposed strategy.",

keywords = "Differential backstepping control, Quadrotor control, Trajectory tracking",

author = "Jianan Wang and Jingze Zhang and Chunyu Li and Weihao Song and Li Liang and Chunyan Wang",

note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 5th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2021 ; Conference date: 19-01-2022 Through 22-01-2022",

year = "2023",

doi = "10.1007/978-981-19-3998-3_30",

language = "English",

isbn = "9789811939976",

series = "Lecture Notes in Electrical Engineering",

publisher = "Springer Science and Business Media Deutschland GmbH",

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booktitle = "Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control",

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Wang, J, Zhang, J, Li, C, Song, W, Liang, L & Wang, C 2023, Differential Backstepping Control for Quadrotor Aircraft. in Z Ren, Y Hua & M Wang (eds), Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control. Lecture Notes in Electrical Engineering, vol. 934 LNEE, Springer Science and Business Media Deutschland GmbH, pp. 305-314, 5th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2021, Shenzhen, China, 19/01/22. https://doi.org/10.1007/978-981-19-3998-3_30

Differential Backstepping Control for Quadrotor Aircraft. / Wang, Jianan; Zhang, Jingze; Li, Chunyu et al.
Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control. ed. / Zhang Ren; Yongzhao Hua; Mengyi Wang. Springer Science and Business Media Deutschland GmbH, 2023. p. 305-314 (Lecture Notes in Electrical Engineering; Vol. 934 LNEE).

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

TY - GEN

T1 - Differential Backstepping Control for Quadrotor Aircraft

AU - Wang, Jianan

AU - Zhang, Jingze

AU - Li, Chunyu

AU - Song, Weihao

AU - Liang, Li

AU - Wang, Chunyan

PY - 2023

Y1 - 2023

N2 - This paper addresses a differential backstepping control strategy for the trajectory tracking of a quadrotor aircraft. We introduce the virtual Lyapunov function with a differential item to design the proposed control strategy which eliminates the high-frequency chattering during the take-off maneuver and largely reduces the number of control parameters. Simulation examples are respectively performed on a low-order and a high-order trajectory tracking scenarios that verify the superiority of the proposed strategy.

AB - This paper addresses a differential backstepping control strategy for the trajectory tracking of a quadrotor aircraft. We introduce the virtual Lyapunov function with a differential item to design the proposed control strategy which eliminates the high-frequency chattering during the take-off maneuver and largely reduces the number of control parameters. Simulation examples are respectively performed on a low-order and a high-order trajectory tracking scenarios that verify the superiority of the proposed strategy.

KW - Differential backstepping control

KW - Quadrotor control

KW - Trajectory tracking

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DO - 10.1007/978-981-19-3998-3_30

M3 - Conference contribution

AN - SCOPUS:85135842091

SN - 9789811939976

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BT - Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control

A2 - Ren, Zhang

A2 - Hua, Yongzhao

A2 - Wang, Mengyi

PB - Springer Science and Business Media Deutschland GmbH

T2 - 5th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2021

Y2 - 19 January 2022 through 22 January 2022

ER -

Wang J, Zhang J, Li C, Song W, Liang L, Wang C. Differential Backstepping Control for Quadrotor Aircraft. In Ren Z, Hua Y, Wang M, editors, Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control. Springer Science and Business Media Deutschland GmbH. 2023. p. 305-314. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-981-19-3998-3_30

Differential Backstepping Control for Quadrotor Aircraft

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