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Paper Information

Journal:   MODARES MECHANICAL ENGINEERING   FEBRUARY 2017 , Volume 16 , Number 11 ; Page(s) 224 To 234.
 
Paper: 

BACKSTEPPING CONTROL PERFORMANCE ENHANCEMENT USING CLOSE LOOP IDENTIFICATION FOR QUADROTOR TRAJECTORY TRACKING

 
 
Author(s):  PARSA ASHKAN, KALHOR AHMAD*, AMIRI ATASHGAH MOHAMMADALI
 
* CONTROL AND INTELLIGENT PROCESSING CENTER OF EXCELLENCE, SCHOOL OF ELECTRICAL AND COMPUTER ENGINEERING, UNIVERSITY OF TEHRAN, TEHRAN, IRAN
 
Abstract: 

In this paper, using both linear and nonlinear identification methods based on iterative and recursive least-square, the performance of a backstepping control system of a quadrotor in the presence of uncertainties is improved. At first, the dynamic model of a quadrotor is introduced and descriptive equations are presented in an appropriate state-space in order to design a controller based on backstepping method. Then the backstepping controller is designed using virtual controller for trajectory tracking. In this control system, the control performance is not satisfactory because of the physical uncertainties existed in quadrotor. Consequently, an online identification method is introduced and used to improve the performance of the controller. In this regard, some parameters, which are linear in the model structure, are identified by least square error technique and iterative least square method is used for identifying other parameters. The results indicate that the steady-state error is decreased and the ability of tracking of a desired trajectory in the presence of uncertainties is increased. Furthermore, the results demonstrate the stability of roll and pitch angles, while the method prevents the vibration of control forces.

 
Keyword(s): LEAST-SQUARE, QUADROTOR, BACKSTEPPING, ONLINE IDENTIFICATION, TRAJECTORY TRACKING
 
References: 
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