Attitude control for quadrotor UAV with dead zone and external disturbance

机译：带有死区和外部干扰的四轮车UAV的态度控制

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摘要

This paper investigates adaptive attitude control for quadrotor unmanned aerial vehicle (UAV) with dead zone and external disturbance. A attitude controller is designed based on backstepping, and adaptive law is designed to compensate the influence of input dead zone and external disturbance. The designed controller guarantees that attitude angle of quadrotor UAV can trace the desired attitude angle. Finally, simulation results have demonstrated the effectiveness of the designed scheme.

机译：本文调查了与死区和外部干扰的四轮车无人驾驶飞行器（UAV）的自适应姿态控制。基于Backstepping设计的姿态控制器，自适应定律旨在补偿输入死区和外部干扰的影响。所设计的控制器保证了四边形UAV的姿态角度可以追踪所需的姿态角度。最后，仿真结果表明了设计方案的有效性。

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来源
《Youth Academic Annual Conference of Chinese Association of Automation》|2021年|871-875|共5页
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作者
Chao Chen; Na Duan; Shuo Li; Zhizheng Xu;
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Backstepping; Automation; Attitude control; Simulation; Unmanned aerial vehicles;

机译：backstepping;自动化;姿态控制;模拟;无人驾驶飞行器;

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专利

1. Adaptive Terminal Sliding Mode Control for Attitude and Position Tracking Control of Quadrotor UAVs in the Existence of External Disturbance [J] . Omid Mofid, Saleh Mobayen, Wing-Kwong Wong Quality Control, Transactions . 2021,第1期

机译：适应终端滑动模式控制，用于态度和位置跟踪控制外部干扰存在的态度和位置跟踪控制
2. Nonlinear Disturbance Observer based Robust Attitude Tracking Controller for Quadrotor UAVs [J] . Lee Kooksun, Back Juhoon, Choy Ick International Journal of Control, Automation, and Systems . 2014,第6期

机译：基于非线性干扰观测器的四旋翼无人机鲁棒姿态跟踪控制器
3. Fractional-order global sliding mode controller for an uncertain quadrotor UAVs subjected to external disturbances [J] . Labbadi Moussa, Boukal Yassine, Cherkaoui Mohamed, Journal of the Franklin Institute . 2021,第9期

机译：用于欠外部干扰的不确定四轮电机UAV的分数级全局滑模控制器
4. Appointed-finite-time Control for Quadrotor UAVs with External Disturbances: An Adaptive Sliding Mode Observer based Approach [C] . Wenquan Gong, Bo Li, Ke Qin, Chinese Control and Decision Conference . 2020

机译：具有外部干扰的四旋翼无人机的指定有限时间控制：一种基于自适应滑模观测器的方法
5. Autonomous Control of a Quadrotor UAV Using Fuzzy Logic. [D] . Sureshkumar, Vijaykumar. 2015

机译：使用模糊逻辑的四旋翼无人机自主控制。
6. Active Disturbance Rejection Position Synchronous Control of Dual-Hydraulic Actuators with Unknown Dead-Zones [O] . Lixin Wang, Dingxuan Zhao, Fucai Liu, 2020

机译：具有未知死区的双液压执行器的主动扰动抑制位置同步控制
7. Adaptive Terminal Sliding Mode Control for Attitude and Position Tracking Control of Quadrotor UAVs in the Existence of External Disturbance [O] . Omid Mofid, Saleh Mobayen, Wing-Kwong Wong 2021

机译：适应终端滑动模式控制，用于态度和位置跟踪控制外部干扰存在的态度和位置跟踪控制

Attitude control for quadrotor UAV with dead zone and external disturbance

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