This paper presents a backstepping sliding mode control with reaching law based on an extended state observer for tracking control of a quadrotor unmanned aerial vehicle (UAV) under external disturbances. Firstly, a six-degree-of-freedom quadrotor UAV model with disturbances is given. Secondly, the cascade control system is proposed with the Backstepping Sliding Mode controller to track the desired trajectory command under parameter uncertainties. Thirdly, the extended state observer is designed to estimate the external disturbances and rate of the states of the quadrotor UAV to reduce the sensor and increase robustness. The stability of the system is demonstrated by Lyapunov theory and the simulation results via Matlab/Simulink environment.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Advanced Motion Control of a Quadrotor Unmanned Aerial Vehicle based on Extended State Observer


    Beteiligte:
    Nguyen, Huu Son (Autor:in) / Le, Duc Thinh (Autor:in) / Dang, Van Trong (Autor:in) / Nguyen, Danh Huy (Autor:in) / Le, Anh Tuan (Autor:in) / Nguyen, Tung Lam (Autor:in)


    Erscheinungsdatum :

    27.07.2023


    Format / Umfang :

    1243524 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Feedback linearization and linear observer for a quadrotor unmanned aerial vehicle

    Mokhtari, Abdellah / M'Sirdi, N.K.M. / Meghriche, K. et al. | Tema Archiv | 2006


    Turnable quadrotor unmanned aerial vehicle

    TIAN HAOYANG / LIANG WENXIANG / CHEN WENJUAN et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Robust Attitude Control of Quadrotor Vehicle via Extended State Observer

    Zhao, Dang Jun ;Jiang, Bing Yan | Trans Tech Publications | 2013


    Design of Quadrotor Unmanned Aerial Vehicle

    Wu, Mofei / Cheng, Zhigang / Yang, Lin et al. | British Library Conference Proceedings | 2017


    Variable-pitch quadrotor unmanned aerial vehicle

    WANG ZIYI / CHEN WENJUAN / ZENG ZHOUJIE et al. | Europäisches Patentamt | 2021

    Freier Zugriff