Backstepping trajectory tracking control of a quadrotor with disturbance rejection

Ramy Rashad, Ahmed Aboudonia, Ayman El-Badawy

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

9 Citations (Scopus)

Abstract

This paper presents a trajectory tracking controller based on the backstepping technique. To avoid the increasing complexity of analytically calculating the derivatives of the virtual control signals in standard backstepping control, a command filtered backstepping approach is utilized. The command filtered backstepping controller is modified to include integral action to increase robustness against external disturbances and unmodeled dynamics. The stability proof of the command filtered integral backstepping approach is presented based on Lyapunov's theorem. The controller is implemented on a quadrotor unmanned aerial vehicle in simulation and compared to a standard integral backstepping controller. Simulation results show that the presented controller yields an improvement in the tracking performance of the quadrotor in the presence of constant disturbances and unmodeled actuator dynamics with lower control effort.

Original languageEnglish
Title of host publication2015 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Proceedings
PublisherIEEE
ISBN (Electronic)9781467381468
DOIs
Publication statusPublished - 30 Nov 2015
Externally publishedYes
Event25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Kampus Univerziteta u Sarajevu, Sarajevo, Bosnia and Herzegovina
Duration: 29 Oct 201531 Oct 2015
Conference number: 25

Conference

Conference25th International Conference on Information, Communication and Automation Technologies, ICAT 2015
Abbreviated titleICAT 2015
CountryBosnia and Herzegovina
CitySarajevo
Period29/10/1531/10/15

Keywords

  • Command filter
  • integral backstepping
  • quadrotor

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