Quadrotor control applying backstepping algorithm

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Authors

  • Le Hoang Anh Vinh Long University of Technology Education
  • Le Huu Toan (Corresponding Author) Vinh Long University of Technology Education
  • Tran Duc Thuan Vinh Long University of Technology Education

DOI:

https://doi.org/10.54939/1859-1043.j.mst.99.2024.99-108

Keywords:

Rolling control; Flight trajectory; UAV; Quadrotor.

Abstract

The paper presents the application of a backstepping controller for quadrotor tracking. The backstepping controller is specially designed to accommodate the nonlinearity of the system. The results show that the controller has achieved the ability to guide the quadrotor to the target position with small error and maintain stability when tracking the predetermined trajectory. Moreover, the controller also shows good performance in tracking the trajectory under the influence of disturbances.

References

[1]. Imane Siti, Mostafa Mjahed, Hassan Ayad, and Abdeljalil El Kari, "New Trajectory Tracking Approach for a Quadcopter Using Genetic Algorithm and Reference Model Methods," Applied Sciences, vol. 1780, no. 9, p. 21, (2019). DOI: https://doi.org/10.3390/app9091780

[2]. Muhammad Maaruf, Magdi Sadek Mahmoud, Alfian Ma'arif, "A Survey of Control Methods for Quadrotor UAV," International Journal of Robotics and Control Systems, vol. 2, no. 4, pp. 652-665, (2022). DOI: https://doi.org/10.31763/ijrcs.v2i4.743

[3]. Marco Rinaldi, Stefano Primatesta, and Giorgio Guglieri, "A Comparative Study for Control of Quadrotor UAVs," Applied Sciences, vol. 3464, p. 13, (2023). DOI: https://doi.org/10.3390/app13063464

[4]. Rafael Guardeño, Manuel J. López and Víctor M. Sánchez, "MIMO PID Controller Tuning Method for Quadrotor Based on LQR/LQG Theory," Robotics, vol. 36, p. 8, (2019). DOI: https://doi.org/10.3390/robotics8020036

[5]. Tianpeng Huang, Deqing Huang, Zhikai Wang, and Awais Shah, "Robust Tracking Control of a Quadrotor UAV Based on Adaptive Sliding Mode Controller," Research Article | Open Access, p. 15, (2019). DOI: https://doi.org/10.1155/2019/7931632

[6]. H. Bouadi, F. Mora-Camino, "Direct Adaptive Backstepping Flight Control for Quadcopter Trajectory Tracking," IEEE, vol. 2018 IEEE/AIAA 37th Digital Avionics Systems Conference (DASC), (2018). DOI: https://doi.org/10.1109/DASC.2018.8569628

[7]. Samir Zeghlache, Ali Djerioui, Loutfi Benyettou, Tarak Benslimane, Hemza Mekki, Abderrahmen Bouguerra, "Fault tolerant control for modified quadrotor via adaptive type-2 fuzzy backstepping subject to actuator faults," ScienceDirect, vol. 95, pp. 330-345, (2019). DOI: https://doi.org/10.1016/j.isatra.2019.04.034

[8]. Ernesto Paiva, Juan Soto, Julio Salinas and William Ipanaqué, "Modeling and PID cascade control of a Quadcopter for trajectory tracking," IEEE, vol. 22, p. 7, (2016).

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Published

25-11-2024

How to Cite

Lê Hoàng Anh, Lê Hữu Toàn, and Trần Đức Thuận. “Quadrotor Control Applying Backstepping Algorithm”. Journal of Military Science and Technology, vol. 99, no. 99, Nov. 2024, pp. 99-108, doi:10.54939/1859-1043.j.mst.99.2024.99-108.

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Section

Mechanics & Mechanical engineering

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