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Analytic Integral Backstepping Controller for Quadrotor Trajectory Tracking
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DOI：10.1109/ACCESS.2024.3476473.png)
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摘要
En 中文
In quadrotor control applications, achieving accurate trajectory following often relies on manipulating attitude changes. However, many existing studies in the literature overlook the significant influence of attitude transients in the design of position controllers for such cascaded systems. In this study, the design of a position controller based on the Analytic Integral Backstepping Control (AIBC) is proposed, which takes into account the impact of the transient attitude dynamics. The implementation of the algorithm depends on derivatives of the associated virtual control laws, which are typically approximated by numerical differentiation in the existing literature. However, in the presence of unavoidable measurement noise, this approximations can lead to serious control signal chatter in practical scenarios. To address this challenge, an analytical form for the derivative of the virtual control law is derived. This form decomposes the time-derivative virtual control law into two components: a disturbance-independent compensable component and a disturbance-dependent non-compensable component. Utilizing the compensable component, the algorithm effectively mitigates the control signal chatter arising from noise differentiation. The proposed AIBC shows improved position tracking and smoother control signals compared to the traditional two-loop control method, even when noise and disturbance are considered in the simulation simultaneously.
Keyword:
Quadrotors
Noise
Motors
Backstepping
Attitude control
Stability analysis
Noise measurement
Numerical stability
Mathematical models
Transient analysis
Quadrotor
analytical form
backstepping control
integral
virtual control
noise
期刊
IF:
3.6
论文数:
9.8W
被引数:
29.4W
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