UAV Control System Based on Back-Stepping and Active Disturbance Rejection Control

DOI

10.2991/jimec-18.2018.28How to use a DOI?

Keywords

Quad-rotor UAV; Back-stepping control; Active disturbance rejection control (ADRC); Nonlinear control; Algorithm combination

Abstract

This paper combines back-stepping and active disturbance rejection control (ADRC) to form an integrated controller for quad-rotor UAV with multiple uncertainties. First, the aerodynamics model of the quad-rotor UAV is analyzed, and the control law of the back-stepping is deduced. Second, after analyzing the back-stepping control law, it can be rewritten and integrated with ADRC. In order to satisfy the demand of back-stepping, finite-time convergent third-order differentiator is used instead of the tracking differentiator (TD).Third, the closed-loop feedback controller for the system is established. Finally, simulation experiments under the MATLAB environment show that the integrated controller improves convergence speed and control precision.

Copyright

© 2019, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Chen Linqi
AU  - Li Tinghui
PY  - 2018/12
DA  - 2018/12
TI  - UAV Control System Based on Back-Stepping and Active Disturbance Rejection Control
BT  - Proceedings of the 2018 3rd Joint International Information Technology，Mechanical and Electronic Engineering Conference (JIMEC 2018)
PB  - Atlantis Press
SP  - 133
EP  - 137
SN  - 2589-4943
UR  - https://doi.org/10.2991/jimec-18.2018.28
DO  - 10.2991/jimec-18.2018.28
ID  - Linqi2018/12
ER  -