Get 20M+ Full-Text Papers For Less Than $1.50/day. Start a 14-Day Trial for You or Your Team.

Learn More →

Backstepping sliding mode tracking control of quad‐rotor under input saturation

Backstepping sliding mode tracking control of quad‐rotor under input saturation Purpose – The quad‐rotor is an under‐actuation, strong coupled nonlinear system with parameters uncertainty, unmodeled disturbance and drive capability boundedness. The purpose of the paper is to design a flight control system to regulate the aircraft track the desired trajectory and keep the attitude angles stable on account of these issues. Design/methodology/approach – Considering the dynamics of a quad‐rotor, the closed‐loop flight control system is divided into two nested loops: the translational outer‐loop and the attitude inner‐loop. In the outer‐loop, the translational controller, which exports the desired attitude angles to the inner‐loop, is designed based on bounded control technique. In consideration of the influence of uncertain rotational inertia and external disturbance, the backstepping sliding mode approach with adaptive gains is used in the inner‐loop. The switching control strategy based on the sign functions of sliding surface is introduced into the design procedure with respect to the input saturation. Findings – The validity of the proposed flight control system was verified through numerical simulation and prototype flight experiment in this paper. Furthermore, with relation to the flying, the motor speed is kept in the predetermined scope. Originality/value – This article introduces a new flight control system designed for a quad‐rotor. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Intelligent Computing and Cybernetics Emerald Publishing

Backstepping sliding mode tracking control of quad‐rotor under input saturation

Loading next page...
 
/lp/emerald-publishing/backstepping-sliding-mode-tracking-control-of-quad-rotor-under-input-s0mVyjWQV1
Publisher
Emerald Publishing
Copyright
Copyright © 2012 Emerald Group Publishing Limited. All rights reserved.
ISSN
1756-378X
DOI
10.1108/17563781211282268
Publisher site
See Article on Publisher Site

Abstract

Purpose – The quad‐rotor is an under‐actuation, strong coupled nonlinear system with parameters uncertainty, unmodeled disturbance and drive capability boundedness. The purpose of the paper is to design a flight control system to regulate the aircraft track the desired trajectory and keep the attitude angles stable on account of these issues. Design/methodology/approach – Considering the dynamics of a quad‐rotor, the closed‐loop flight control system is divided into two nested loops: the translational outer‐loop and the attitude inner‐loop. In the outer‐loop, the translational controller, which exports the desired attitude angles to the inner‐loop, is designed based on bounded control technique. In consideration of the influence of uncertain rotational inertia and external disturbance, the backstepping sliding mode approach with adaptive gains is used in the inner‐loop. The switching control strategy based on the sign functions of sliding surface is introduced into the design procedure with respect to the input saturation. Findings – The validity of the proposed flight control system was verified through numerical simulation and prototype flight experiment in this paper. Furthermore, with relation to the flying, the motor speed is kept in the predetermined scope. Originality/value – This article introduces a new flight control system designed for a quad‐rotor.

Journal

International Journal of Intelligent Computing and CyberneticsEmerald Publishing

Published: Nov 23, 2012

Keywords: Quad‐rotor; Double‐loops; Backstepping algorithm; Adaptive approximation; Bounded control; Prototype experiment; Genetic algorithms; Flight control

References