Abstract
Abstract
This paper presents an adaptive backstepping controller for the
position trajectory tracking of a quadrotor. The design adopts and
modifies the L1 adaptive control approach for nonlinear reference
systems to fit into the backstepping design and to decouple the
nominal controller from the adaptation. The controller compensates
for all model uncertainties and all bounded disturbances within
a particular frequency range. A stability criterion and verifiable
bounds on the system signals are derived. Simulations and
experimental tests demonstrate the powerful properties of the
presented controller.
Subject
Electrical and Electronic Engineering,Computer Science Applications,Control and Systems Engineering
Cited by
4 articles.
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