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

	Backstepping sliding mode tracking control of quad-rotor under input saturation
	Gong X.; Bai Y.; Hou Z.; Zhao C.; Tian Y.; Sun Q.
	2012
发表期刊	International Journal of Intelligent Computing and Cybernetics
ISSN	1756378X
卷号	5 期号:4 页码:515-532
摘要	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. Emerald Group Publishing Limited.
收录类别	EI
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/34590
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.,Bai Y.,Hou Z.,et al. Backstepping sliding mode tracking control of quad-rotor under input saturation[J]. International Journal of Intelligent Computing and Cybernetics,2012,5(4):515-532.
APA	Gong X.,Bai Y.,Hou Z.,Zhao C.,Tian Y.,&Sun Q..(2012).Backstepping sliding mode tracking control of quad-rotor under input saturation.International Journal of Intelligent Computing and Cybernetics,5(4),515-532.
MLA	Gong X.,et al."Backstepping sliding mode tracking control of quad-rotor under input saturation".International Journal of Intelligent Computing and Cybernetics 5.4(2012):515-532.