Nonlinear Adaptive Backstepping with ESO for the Quadrotor Trajectory Tracking Control in the Multiple Disturbances

• Published in: International journal of control, automation, and systems Vol. 17; no. 11; pp. 2754 - 2768
• Main Authors: Liu, Jie, Gai, Wendong, Zhang, Jing, Li, Yuxia
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.11.2019; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Actuators; Adaptive control; Circle criterion; Computer simulation; Control; Control systems design; Controllers; Disturbances; Engineering; Mechatronics; Robotics; State observers; Tracking control; Trajectory control; Unmanned aerial vehicles; Unmanned helicopters; 제어계측공학; trajectory tracking controller; Adaptive backstepping; quadrotor unmanned aerial vehicle (UAV); multiple disturbances; extended state observer (ESO)
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-018-0909-9

In this paper, we present a nonlinear adaptive backstepping with extended state observer (ESO) trajectory tracking controller for a quadrotor unmanned aerial vehicle (UAV) subject to the multiple disturbances, which include the parametric uncertainties, actuator faults and external disturbance. First, a six-degrees of freedom quadrotor UAV model with the multiple disturbances function is built. Second, the adaptive backstepping controller is designed to track the desired trajectory command aim at internal disturbance. And the adaptive backstepping controller with ESO is designed to track the desired trajectory command aim at external disturbance. Third, the stability of the system is proved by the circle criterion. Finally, under different flight scenarios, simulation results are given to demonstrate the effectiveness of the proposed method.