An adaptive backstepping based trajectory tracking control is proposed to improve the anti-interference ability and robustness and guarantee accurate trajectory tracking. Firstly, a double-loop control system is proposed to handle the weak coupling and under-actuated characteristics; and an adaptive backstepping is designed to improve the position control loop trajectory tracking ability; besides, an adaptive integral backstepping control is proposed to guarantee the good robustness and stability; lastly, the simulation result is given to verify the feasibility and effectiveness for trajectory tracking of quadrotor UAV with the uncertainty disturbance.


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    Title :

    Adaptive Backstepping-Based Trajectory Tracking Control for Quadrotor UAV with Uncertainty Disturbance


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Yu, Xiang (editor) / Chen, Zhiming (author) / Liu, Longwu (author) / Luo, Zhouhuai (author)


    Publication date :

    2021-10-30


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





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