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

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Abstract

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.

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Authors and Affiliations

  1. School of Telecommunication Engineering, Jilin University, Changchun, 130025, China

    Xun Gong, Zhi-Cheng Hou & Yan-Tao Tian

  2. Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun, 130080, China

    Chang-Jun Zhao & Yue Bai

Authors
  1. Xun Gong
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  2. Zhi-Cheng Hou
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  3. Chang-Jun Zhao
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  4. Yue Bai
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  5. Yan-Tao Tian
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Corresponding author

Correspondence to Yue Bai.

Additional information

This work was supported by Chinese Academy of Sciences (No. yyyj-1112).

Xun Gong graduated from Harbin Institute of Technology (HIT), China in 2005. He received his M. Sc. degree from HIT, China in 2008. He is currently a Ph.D. candidate in the School of Telecommunication Engineering, Jilin University, China.

His research interests include unmanned aerial vehicle (UAV) control system, bounded control, and fault-tolerant control.

Zhi-Cheng Hou received his B. Sc. and M. Sc. degrees from Jilin University, China in 2008 and 2011, respectively. He is currently a Ph. D. candidate in the School of Telecommunication Engineering, Jilin University, China.

His research interests include UAV control system, robust control, and adaptive control.

Chang-Jun Zhao received his B. Sc. and M. Sc. degrees from Northeast Dianli University, China in 2009 and 2011, respectively. He is currently a Ph. D. candidate in Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, China.

His research interests include UAV control system, robust control, and adaptive control.

Yue Bai received his Ph.D. degree from Chang Chun Institute of Optics Fine Mechanics and Physics, Chinese Academy of Sciences, China in 2006. He is currently an associate professor in Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, China.

His interests include automatic control and dynamics for micro aerial vehicle (MAV), friction lubrication, and space flywheel practical technology under extreme conditions.

Yan-Tao Tian graduated from Jilin University of Technology, China in 1982. He received his M. Sc. degree in 1987 and Ph.D. degree in 1993 from Jilin University of Technology, China. He is currently a professor in the School of Telecommunication Engineering, Jilin University, China.

His research interests include complex system, distributed intelligent system and network control, intelligent robot control system and network control, pattern recognition, and machine vision.

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Gong, X., Hou, ZC., Zhao, CJ. et al. Adaptive backstepping sliding mode trajectory tracking control for a quad-rotor. Int. J. Autom. Comput. 9, 555–560 (2012). https://doi.org/10.1007/s11633-012-0679-4

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  • DOI: https://doi.org/10.1007/s11633-012-0679-4

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