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Robust and Adaptive Backstepping Control for Hexacopter UAVs
journal contributionposted on 2020-06-22, 10:53 authored by Juqian Zhang, Dawei Gu, Chao Deng, Bangchun Wen
A nonlinear robust and adaptive backstepping control strategy is hierarchically proposed to solve the trajectory tracking problem of hexacopter UAVs. Due to the under-actuated and coupled properties of the hexacopter dynamics, the nominal backstepping control approach is fully designed as the main controller. Considering the model uncertainties and external disturbances perturbing the system stability, a robust 2 nd -order linear extended state observer (LESO) with more reliable velocity feedback is devised to observe and suppress the instabilities, and peaking phenomena in the observation are removed. Usually, large observer gains are selected to reduce the tracking errors but will amplify the measurement noise. To further enhance the system robustness, an adaptive switching function based compensator is introduced to eliminate the observation errors, through which the requirement on large observer gains is relaxed, and high gain behaviors of the LESO are avoided. Stability analysis proves that the nonlinear control scheme can ensure the hexacopter UAV asymptotic tracking along the designated trajectory. Comparative simulations under different controllers are carried out to demonstrate the efficiency and superiority of the proposed control scheme.
This work was supported in part by the National Natural Science Foundation of China under Grant U1708257, Grant 61773056, and Grant 51875093, and in part by the National Key Research and Development Program of China under Grant 2017YFB1103702.
CitationJ. Zhang, D. Gu, C. Deng and B. Wen, "Robust and Adaptive Backstepping Control for Hexacopter UAVs," in IEEE Access, vol. 7, pp. 163502-163514, 2019, doi: 10.1109/ACCESS.2019.2951282.
- VoR (Version of Record)
Published inIEEE Access
Pagination163502 - 163514
PublisherInstitute of Electrical and Electronics Engineers
Science & TechnologyTechnologyComputer Science, Information SystemsEngineering, Electrical & ElectronicTelecommunicationsComputer ScienceEngineeringHexacopter UAVtrajectory trackingrobust backstepping control2nd-order LESOhierarchical compensatorsSLIDING MODE CONTROLTRAJECTORY TRACKING CONTROLEXTENDED STATE OBSERVERQUADROTOR UAVATTITUDE-CONTROLDISTURBANCESVEHICLE