Design and Implementation of Integral Backstepping Sliding Mode Control for Quadrotor Trajectory Tracking

A robust trajectory tracking control scheme for quadrotor unmanned aircraft vehicles under uncertainties is proposed herein. A tracking controller combined with the sliding mode and integral backstepping is performed for position and attitude tracking. The stability of the trajectory tracking contro...

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Autores principales:	Shun-Hung Tsai, Yi-Ping Chang, Hung-Yi Lin, Luh-Maan Chang
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	quadrotor integral backstepping sliding mode control trajectory tracking Lyapunov Chemical technology TP1-1185 Chemistry QD1-999
Acceso en línea:	https://doaj.org/article/183a9a0d01f7476d96a34d5d505b7979
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spelling	oai:doaj.org-article:183a9a0d01f7476d96a34d5d505b79792021-11-25T18:50:42ZDesign and Implementation of Integral Backstepping Sliding Mode Control for Quadrotor Trajectory Tracking10.3390/pr91119512227-9717https://doaj.org/article/183a9a0d01f7476d96a34d5d505b79792021-10-01T00:00:00Zhttps://www.mdpi.com/2227-9717/9/11/1951https://doaj.org/toc/2227-9717A robust trajectory tracking control scheme for quadrotor unmanned aircraft vehicles under uncertainties is proposed herein. A tracking controller combined with the sliding mode and integral backstepping is performed for position and attitude tracking. The stability of the trajectory tracking controller of the quadrotor is investigated via Lyapunov stability analysis. By incorporating force and torque disturbances into numerical simulations, the results demonstrate the effectiveness of the proposed quadrotor trajectory controller. Finally, the experiments validate the feasibility of the proposed controller.Shun-Hung TsaiYi-Ping ChangHung-Yi LinLuh-Maan ChangMDPI AGarticlequadrotorintegral backsteppingsliding mode controltrajectory trackingLyapunovChemical technologyTP1-1185ChemistryQD1-999ENProcesses, Vol 9, Iss 1951, p 1951 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	quadrotor integral backstepping sliding mode control trajectory tracking Lyapunov Chemical technology TP1-1185 Chemistry QD1-999
spellingShingle	quadrotor integral backstepping sliding mode control trajectory tracking Lyapunov Chemical technology TP1-1185 Chemistry QD1-999 Shun-Hung Tsai Yi-Ping Chang Hung-Yi Lin Luh-Maan Chang Design and Implementation of Integral Backstepping Sliding Mode Control for Quadrotor Trajectory Tracking
description	A robust trajectory tracking control scheme for quadrotor unmanned aircraft vehicles under uncertainties is proposed herein. A tracking controller combined with the sliding mode and integral backstepping is performed for position and attitude tracking. The stability of the trajectory tracking controller of the quadrotor is investigated via Lyapunov stability analysis. By incorporating force and torque disturbances into numerical simulations, the results demonstrate the effectiveness of the proposed quadrotor trajectory controller. Finally, the experiments validate the feasibility of the proposed controller.
format	article
author	Shun-Hung Tsai Yi-Ping Chang Hung-Yi Lin Luh-Maan Chang
author_facet	Shun-Hung Tsai Yi-Ping Chang Hung-Yi Lin Luh-Maan Chang
author_sort	Shun-Hung Tsai
title	Design and Implementation of Integral Backstepping Sliding Mode Control for Quadrotor Trajectory Tracking
title_short	Design and Implementation of Integral Backstepping Sliding Mode Control for Quadrotor Trajectory Tracking
title_full	Design and Implementation of Integral Backstepping Sliding Mode Control for Quadrotor Trajectory Tracking
title_fullStr	Design and Implementation of Integral Backstepping Sliding Mode Control for Quadrotor Trajectory Tracking
title_full_unstemmed	Design and Implementation of Integral Backstepping Sliding Mode Control for Quadrotor Trajectory Tracking
title_sort	design and implementation of integral backstepping sliding mode control for quadrotor trajectory tracking
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/183a9a0d01f7476d96a34d5d505b7979
work_keys_str_mv	AT shunhungtsai designandimplementationofintegralbacksteppingslidingmodecontrolforquadrotortrajectorytracking AT yipingchang designandimplementationofintegralbacksteppingslidingmodecontrolforquadrotortrajectorytracking AT hungyilin designandimplementationofintegralbacksteppingslidingmodecontrolforquadrotortrajectorytracking AT luhmaanchang designandimplementationofintegralbacksteppingslidingmodecontrolforquadrotortrajectorytracking
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Design and Implementation of Integral Backstepping Sliding Mode Control for Quadrotor Trajectory Tracking

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