Integral backstepping control for quadrotor helicopters

Zhenyue Jia; Jianqiao Yu; Xiaolin Ai

doi:10.1145/3057039.3057052

Integral backstepping control for quadrotor helicopters

Zhenyue Jia, Jianqiao Yu, Xiaolin Ai

School of Aerospace Engineering

Beijing Institute of Technology

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

2 Citations (Scopus)

Abstract

In this paper, a novel nonlinear control approach is designed for the quadrotor helicopter to achieve the trajectory tracking task in a complex battle field. The 6-DOF dynamic model of the quadrotor is introduced based on the Newton-Euler formula. Considering the characteristic of the quadrotor dynamics, a hierarchical control scheme consisting of a translational subsystem and a rotational subsystem is presented. Then, an integral backstepping (integral BS) control strategy is proposed for both two subsystems. The performance of the control method presented in this paper is demonstrated by the numerical simulations. The results show that the nonlinear control approach has an excellent capability both in tracking accuracy and robustness in the presence of random wind disturbances.

Original language	English
Title of host publication	Proceedings of 2017 9th International Conference on Computer and Automation Engineering, ICCAE 2017
Publisher	Association for Computing Machinery
Pages	227-231
Number of pages	5
ISBN (Electronic)	9781450348096
DOIs	https://doi.org/10.1145/3057039.3057052
Publication status	Published - 18 Feb 2017
Event	9th International Conference on Computer and Automation Engineering, ICCAE 2017 - Sydney, Australia Duration: 18 Feb 2017 → 21 Feb 2017

Publication series

Name	ACM International Conference Proceeding Series
Volume	Part F127852

Conference

Conference	9th International Conference on Computer and Automation Engineering, ICCAE 2017
Country/Territory	Australia
City	Sydney
Period	18/02/17 → 21/02/17

Keywords

External disturbances
Integral backstepping control
Quadrotor helicopter
Trajectory tracking

Access to Document

10.1145/3057039.3057052

Cite this

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title = "Integral backstepping control for quadrotor helicopters",

abstract = "In this paper, a novel nonlinear control approach is designed for the quadrotor helicopter to achieve the trajectory tracking task in a complex battle field. The 6-DOF dynamic model of the quadrotor is introduced based on the Newton-Euler formula. Considering the characteristic of the quadrotor dynamics, a hierarchical control scheme consisting of a translational subsystem and a rotational subsystem is presented. Then, an integral backstepping (integral BS) control strategy is proposed for both two subsystems. The performance of the control method presented in this paper is demonstrated by the numerical simulations. The results show that the nonlinear control approach has an excellent capability both in tracking accuracy and robustness in the presence of random wind disturbances.",

keywords = "External disturbances, Integral backstepping control, Quadrotor helicopter, Trajectory tracking",

author = "Zhenyue Jia and Jianqiao Yu and Xiaolin Ai",

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doi = "10.1145/3057039.3057052",

language = "English",

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Jia, Z, Yu, J & Ai, X 2017, Integral backstepping control for quadrotor helicopters. in Proceedings of 2017 9th International Conference on Computer and Automation Engineering, ICCAE 2017. ACM International Conference Proceeding Series, vol. Part F127852, Association for Computing Machinery, pp. 227-231, 9th International Conference on Computer and Automation Engineering, ICCAE 2017, Sydney, Australia, 18/02/17. https://doi.org/10.1145/3057039.3057052

Integral backstepping control for quadrotor helicopters. / Jia, Zhenyue; Yu, Jianqiao; Ai, Xiaolin.
Proceedings of 2017 9th International Conference on Computer and Automation Engineering, ICCAE 2017. Association for Computing Machinery, 2017. p. 227-231 (ACM International Conference Proceeding Series; Vol. Part F127852).

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

TY - GEN

T1 - Integral backstepping control for quadrotor helicopters

AU - Jia, Zhenyue

AU - Yu, Jianqiao

AU - Ai, Xiaolin

PY - 2017/2/18

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N2 - In this paper, a novel nonlinear control approach is designed for the quadrotor helicopter to achieve the trajectory tracking task in a complex battle field. The 6-DOF dynamic model of the quadrotor is introduced based on the Newton-Euler formula. Considering the characteristic of the quadrotor dynamics, a hierarchical control scheme consisting of a translational subsystem and a rotational subsystem is presented. Then, an integral backstepping (integral BS) control strategy is proposed for both two subsystems. The performance of the control method presented in this paper is demonstrated by the numerical simulations. The results show that the nonlinear control approach has an excellent capability both in tracking accuracy and robustness in the presence of random wind disturbances.

AB - In this paper, a novel nonlinear control approach is designed for the quadrotor helicopter to achieve the trajectory tracking task in a complex battle field. The 6-DOF dynamic model of the quadrotor is introduced based on the Newton-Euler formula. Considering the characteristic of the quadrotor dynamics, a hierarchical control scheme consisting of a translational subsystem and a rotational subsystem is presented. Then, an integral backstepping (integral BS) control strategy is proposed for both two subsystems. The performance of the control method presented in this paper is demonstrated by the numerical simulations. The results show that the nonlinear control approach has an excellent capability both in tracking accuracy and robustness in the presence of random wind disturbances.

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KW - Integral backstepping control

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KW - Trajectory tracking

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Integral backstepping control for quadrotor helicopters

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Keywords

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