Sliding Mode Control Based on Adaptive Backstepping Approch for a Quadrotor Unmanned Aerial Vehicle

• Autorzy: Kacimi A. , Mokhtari A. , Kouadari B.

Warianty tytułu

PL

Sterowanie slizgowe typu adaptacyjny backstepping w zastosowaniu do bezzalogowego pojazdu powietrznego

• Języki publikacji: EN

Abstrakty

EN

A sliding mode control based on adaptive backstepping approch, is developped respectively in order to synthesise tracking errors and to ensure Lyapunov stability, handling of all system nonlinearities and desired tracking trajectories. Under ground effects and wind disturbances, the body inertia becomes badly known , and non parametric uncertainties are considered in the system model. Dynamic modelling of quadrotor takes into account the high-order nonholonomic constraints, that are considered here in order to test this new control scheme on a model that takes into account the various physical phenomenas, which can influence the dynamics of a flying structure. Finally simulation results are provided to illustrate the performances of the proposed controller.

PL

Przedstawiono system sterowania ślizgowego z modulem typu backstepping w zastosowaniu do bezzalogowego pojazdu powietrznego (helikoptera). Zaproponowany system sterowania pozwala na zmniejszenie błędu trasy i zapewnia stabilność z uwzględnieniem nieliniowości, zmian wiatru i inercji pojazdu. Model dynamiczny uwzglednia różne możliwe fizyczne zjawiska.

Słowa kluczowe

EN

tuning function; nonholonomic constraints; backstepping

PL

sterowanie ślizgowe; helikopter bezzalogowy

• Wydawca: Wydawnictwo SIGMA-NOT
• Czasopismo: Przegląd Elektrotechniczny
• Rocznik: 2012
• Tom: R. 88, nr 6
• Strony: 188--193
• Opis fizyczny: Bibliogr. 15 poz., wykr.

Twórcy

autor

Kacimi A.

autor

Mokhtari A.

autor

Kouadari B.

• University of Oran, Algeria,

Bibliografia

• [1] A. Mokhtari, N.K. Msirdi, K. Meghriche, A. Belaidi. Feedback linearization and linear observer for a quadrotor unmanned. Advanced Robotics, 20:71–91, 2006.
• [2] I. Kanellakopoulos, P.V. Kokotovic, A.S. Morse. Systematic Design of Adaptive Controllers for Feedback Linearizable Systems. IEEE Trans. Automat. Contr, 36, 1241–1253, 1991.
• [3] M. Krstic, I. Kanellakopoulos, P.V. Kokotovic. Adaptive nonlinear control without overparametrization. Systems & Control Letters, volume 19, pages 177–185. North-Holland, 1992.
• [4] K. Watanabe, K. Tanaka, K. Izumi,K. Okamura, R. Syam. Discontinuous Control and Backstepping Method for the Underactuated Controlof VTOL Aerial Robots with Four Rotors. Unmanned Systems, SCI 192, pages 83-100. Berlin Heidelberg, Springer-Verlag, 2009.
• [5] H. Xu, M. mirmirani, P.A. Ioannou, H.R. Boussalis. Robust adaptive sliding control of linearizable systems. Proceeding of the American Control Conference, pages 4351–4356. Arlington, VA June 25-27, 2001.
• [6] J.E. Slotine, W. Li Applied nonlinear control. Printice Hall, 1991.
• [7] L. Beji, A. Abichou. Streamlined rotors mini rotorcraft: Trajectory generation and tracking. International journal of automation and systems, 03, 01, pages 87–99, Mars 2005.
• [8] A. Isidori. Nonlinear Control Systems. London, Springer-Verlag, 1995.
• [9] C. Wen, Y.C. Soh. Decentralized adaptive control using integrator backstepping. Automatica, vol.33, pages 1719-1724, 1997.
• [10] Y. Zhang, C. Wen, Y.C. Soh. Adaptive backstepping control design for systems with unknown high-frequency gain. IEEE Trans. on Automat. Contr,vol.45, pages 23502354, 2000.
• [11] C. Wen, Y. Zhang, Y.C. Soh. Robustness of an adaptive backstepping controller without modification. Systems & Control Letters,vol.36, pages 87-100, 1999.
• [12] Costa. R.R, al. Adaptive backstepping control design for mimo plants using factorization. Proceedings of the American Control Conference, pages 4601-4606, 2002.
• [13] Y. Ling, G. Tao. Adaptive backstepping control design for linear multivariable plants. Proceedings of the IEEE Conference on Decision and Control, pages 2438-2443, 1996.
• [14] J. Zhou, C. Wen, Y. Zhang. Adaptive backstepping control of a class of uncertain nonlinear systems with unknown backlashlike hysteresis. IEEE Transactions on Automatic Control, vol.49, pages 1751-1757, 2004.
• [15] H. Bouadi, M. Bouchoucha, and M. Tadjine. Sliding Mode Control based on Backstepping Approach for an UAV Type- Quadrotor. World Academy of Science, Engineering and Technology, vol. 26, 2007.