Skip to main content
SpringerLink
Log in

Quaternion-Based Adaptive Backstepping RFWNN Control of Quadrotors Subject to Model Uncertainties and Disturbances

  • Published:
International Journal of Fuzzy Systems Aims and scope Submit manuscript

Abstract

This paper presents a quaternion-based adaptive backstepping control method using recurrent fuzzy wavelet neural network (RFWNN) for regulation and trajectory tracking of quadrotors subject to model uncertainties and disturbances. For the controller synthesis, a more complete model of an uncertain quadrotor is first obtained by incorporating with mass variations and wind disturbances, which are online learned by using the RFWNN. Afterward, a quaternion-based adaptive backstepping RFWNN controller is synthesized by integrating backstepping, quaternion control, and the RFWNN online learner. The closed-loop stability of the overall quadrotor control system is shown semi-globally uniformly ultimately bounded via Lyapunov stability theory. The effectiveness and performance of the proposed control method are well exemplified by conducting four simulations on hovering and three-dimensional sinusoidal trajectory tracking control of a quadrotor. Through the simulation results, the proposed control method is shown superior by comparing to two existing methods.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7

Similar content being viewed by others

References

  1. Kiyashko, M.A., Sholmov, A.K., Efremov, A.A.: Quadrotor mathematical and information model analysis. In: Proceedings of IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering, pp. 901–904 (2017)

  2. Feng, Y., Rabbath, C.A., Rakheja, S., Su, C.Y.: Adaptive controller design for generic quadrotor aircraft platform subject to slung load. In: Proceedings of 2015 IEEE 28th Canadian Conference on Electrical and Computer Engineering, pp. 1135–1139 (2015)

  3. Lucia, S.D., Tipaldi, G.D., Burgard, W.: Attitude stabilization control of an aerial manipulator using a quaternion-based backstepping approach. In: Proceedings of 2015 IEEE European Conference on Mobile Robots, pp. 1–6 (2015)

  4. Ariyanto, M., Paryanto, M., Naniwa, T.: Mathematical and physical modelling with dynamic change in the center of gravity of quadrotor. In: Proceedings of 2016 8th International Conference on Information Technology and Electrical Engineering (ICITEE), pp. 1–6 (2016)

  5. Lee, S., Giri, D.K., Son, H.: Modeling and control of quadrotor UAV subject to variations in center of gravity and mass. In: Proceedings of 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), pp. 85–90 (2017)

  6. Tran, N.K., Bulka, E., Nahon, M.: Quadrotor control in a wind field. In: 2015 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 320–328 (2015)

  7. Bialy, B.J., Klotz, J., Brink, K., Dixon, W.E.: Lyapunov-based robust adaptive control of a quadrotor UAV in the presence of modeling uncertainties. In: Proceedings of 2013 American Control Conference, pp. 13–18 (2013)

  8. Choi, Y.-C., Ahn, H.-S.: Nonlinear control of quadrotor for point tracking: actual implementation and experimental tests. IEEE/ASME Trans. on Mechatronics 20(3), 1179–1192 (2015)

    Article  Google Scholar 

  9. Rashad, R., Aboudonia, A., El-Badawy, A.: Backstepping trajectory tracking control of a quadrotor with disturbance rejection. In: Proceedings of 2015 XXV International Conference on Information, Communication and Automation Technologies (ICAT), pp. 1–7 (2015)

  10. Lee, C.T., Tsai, C.C.: Nonlinear adaptive aggressive control using recurrent neural networks for a small scale helicopter. Mechatronics 20(4), 474–484 (2010)

    Article  Google Scholar 

  11. Tsai, C.C., Lee, C.T., Hwang, K.S.: Intelligent Adaptive Trajectory Tracking Control Using Fuzzy Basis Function Networks for an Autonomous Small-Scale Helicopter. In: Proceedings of 2011 IEEE International Conference on Systems, Man, and Cybernetics (2011)

  12. Zhao, S., Dong, W., Farrell, J.A.: Quaternion-based trajectory tracking control of VTOL-UAVs using command filtered backstepping. In: Proceedings of 2013 American Control Conference, pp. 1018–1023 (2013)

  13. Dong, W., Farrell, J.A., Polycarpou, M.M., Sharma, M.: Command filtered adaptive backstepping. IEEE Trans. Control Systems Technology 20, 566–580 (2012)

    Article  MATH  Google Scholar 

  14. Castillo, A., Sanz, R., Garcia, P., Albertos, P.: A quaternion-based and active disturbance rejection attitude control for quadrotor. In: Proceedings of 2016 IEEE International Conference on Information and Automation (ICIA), pp. 240–245 (2016)

  15. Zou,Y., Huo, W.: Adaptive backstepping trajectory tracking controller for a small-scaled helicopter. In: Proceedings of 2015 34th Chinese Control Conference (CCC), pp. 737–742 (2015)

  16. Zak, S.H.: System and control. Oxford University Press, Oxford (2003)

    Google Scholar 

  17. Tong, S., Li, Y., Sui, S.: Adaptive fuzzy tracking control design for SISO uncertain non strict feedback nonlinear systems. IEEE Trans. Fuzzy Syst. 24(6), 1441–1454 (2016)

    Article  Google Scholar 

  18. Li, Y., Liu, L., Feng, G.: Robust adaptive output feedback control approach to a class of non-triangular stochastic nonlinear systems. Automatica 89, 325–332 (2018)

    Article  MathSciNet  MATH  Google Scholar 

  19. Kuo, C.W., Tsai, C.C.: Integral Consensus Tracking Using RFWNN for Uncertain Networked Heterogeneous Second-Order Nonlinear Multiagent Systems. In: Proceedings of 2016 International Conference on Advanced Robotics and Intelligent Systems, Taipei, Taiwan (2016)

Download references

Acknowledgements

The authors deeply acknowledge finance support from Ministry of Science and Technology (MOST), Taiwan, ROC, under contract MOST 104-2221-E-005-054 -MY2.

Author information

Authors and Affiliations

  1. Department of Electrical Engineering, National Chung Hsing University, 250, Kuo-Kuang Road, Taichung, 40227, Taiwan, ROC

    Chia-Wei Kuo & Ching-Chih Tsai

Authors
  1. Chia-Wei Kuo
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Ching-Chih Tsai
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Ching-Chih Tsai.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Kuo, CW., Tsai, CC. Quaternion-Based Adaptive Backstepping RFWNN Control of Quadrotors Subject to Model Uncertainties and Disturbances. Int. J. Fuzzy Syst. 20, 1745–1755 (2018). https://doi.org/10.1007/s40815-018-0471-x

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s40815-018-0471-x

Keywords

Search

Navigation