Antisaturation Command Filtered Backstepping Control-Based Disturbance Rejection for a Quadarotor UAV
文献类型：期刊论文
| 作者 | Liu, Kang1,2,3; Wang, Rujing1,2
|
| 刊名 | IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
 |
| 出版日期 | 2021-12-01 |
| 卷号 | 68 |
| 关键词 | Backstepping Unmanned aerial vehicles Symmetric matrices Vehicle dynamics Upper bound Circuits and systems Stability analysis Command filtered backstepping control disturbance observer based state estimator input saturation quadrotor unmanned aerial vehicle |
| ISSN号 | 1549-7747 |
| DOI | 10.1109/TCSII.2021.3069967 |
| 通讯作者 | Liu, Kang(xinxilk@mail.ustc.edu.cn) |
| 英文摘要 | This brief investigates the tracking control problem of the quadrotor unmanned aerial vehicle considering the disturbance and input saturation. According to the hierarchical control principle, the quadrotor dynamics is decomposed into position and attitude loops to accommodate the controller design. To overcome the disturbance, two disturbance observer-based state estimators are designed in two loops, respectively. By integrating the filtering-error compensation mechanism and auxiliary control system into the dynamic surface control, the input saturation and filtering errors can be solved. In addition, the tracking errors of the closed-loop system can converge to the origin. Finally, simulation results show the validity of the proposed control formulation. |
| WOS关键词 | TRAJECTORY TRACKING CONTROL ; QUADROTOR UAV ; SYSTEMS |
| 资助项目 | National Natural Science Foundation of China[31671586] |
| WOS研究方向 | Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000722063600025 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/126706]  |
| 专题 | 中国科学院合肥物质科学研究院 |
| 通讯作者 | Liu, Kang |
| 作者单位 | 1.Chinese Acad Sci, Hefei Inst Phys Sci, Hefei 230031, Peoples R China 2.Chinese Acad Sci, Inst Intelligent Machines, Intelligent Agr Engn Lab Anhui Prov, Hefei 230031, Peoples R China 3.Univ Sci & Technol China, Hefei 230026, Peoples R China |
| 推荐引用方式 GB/T 7714 | Liu, Kang,Wang, Rujing. Antisaturation Command Filtered Backstepping Control-Based Disturbance Rejection for a Quadarotor UAV[J]. IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS,2021,68. |
| APA | Liu, Kang,&Wang, Rujing.(2021).Antisaturation Command Filtered Backstepping Control-Based Disturbance Rejection for a Quadarotor UAV.IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS,68. |
| MLA | Liu, Kang,et al."Antisaturation Command Filtered Backstepping Control-Based Disturbance Rejection for a Quadarotor UAV".IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS 68(2021). |
入库方式： OAI收割
来源：合肥物质科学研究院
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