Adaptive backstepping sliding mode trajectory tracking control for a quad-rotor

	Adaptive backstepping sliding mode trajectory tracking control for a quad-rotor
	Gong X.; Hou Z.-C.; Zhao C.-J.; Bai Y.; Tian Y.-T.
	2012
发表期刊	International Journal of Automation and Computing
ISSN	14768186
卷号	9 期号:5 页码:555-560
摘要	A quad-rotor aircraft is an under-actuated, strongly coupled nonlinear system with parameter uncertainty and un-modeled disturbance. In order to make the aircraft track the desired trajectory, a nested double-loops control system is adopted in this paper. A position error proportional-derivative (PD) controller is designed as the outer-loop controller based on the coupling action between rotational and translational movement, and an adaptive backstepping sliding mode control algorithm is used to stabilize the attitude. Finally, both the numerical simulation and prototype experiment are utilized to demonstrate the effectiveness of the proposed control system. 2012 Institute of Automation, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg.
收录类别	EI
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/34575
专题	中科院长春光机所知识产出
推荐引用方式 GB/T 7714	Gong X.,Hou Z.-C.,Zhao C.-J.,et al. Adaptive backstepping sliding mode trajectory tracking control for a quad-rotor[J]. International Journal of Automation and Computing,2012,9(5):555-560.
APA	Gong X.,Hou Z.-C.,Zhao C.-J.,Bai Y.,&Tian Y.-T..(2012).Adaptive backstepping sliding mode trajectory tracking control for a quad-rotor.International Journal of Automation and Computing,9(5),555-560.
MLA	Gong X.,et al."Adaptive backstepping sliding mode trajectory tracking control for a quad-rotor".International Journal of Automation and Computing 9.5(2012):555-560.

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