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 language | English |
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Title of host publication | 2015 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Proceedings |
Publisher | IEEE |
ISBN (Electronic) | 9781467381468 |
DOIs | |
Publication status | Published - 30 Nov 2015 |
Externally published | Yes |
Event | 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Kampus Univerziteta u Sarajevu, Sarajevo, Bosnia and Herzegovina Duration: 29 Oct 2015 → 31 Oct 2015 Conference number: 25 |
Conference
Conference | 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 |
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Abbreviated title | ICAT 2015 |
Country/Territory | Bosnia and Herzegovina |
City | Sarajevo |
Period | 29/10/15 → 31/10/15 |
Keywords
- Command filter
- integral backstepping
- quadrotor