This paper addresses a differential backstepping control strategy for the trajectory tracking of a quadrotor aircraft. We introduce the virtual Lyapunov function with a differential item to design the proposed control strategy which eliminates the high-frequency chattering during the take-off maneuver and largely reduces the number of control parameters. Simulation examples are respectively performed on a low-order and a high-order trajectory tracking scenarios that verify the superiority of the proposed strategy.
Differential Backstepping Control for Quadrotor Aircraft
Lect. Notes Electrical Eng.
Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control ; Chapter : 30 ; 305-314
2022-07-29
10 pages
Article/Chapter (Book)
Electronic Resource
English
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