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Disturbance observer based backstepping controller for a quadcopter | IEEE Conference Publication | IEEE Xplore

Disturbance observer based backstepping controller for a quadcopter


Abstract:

The Disturbance observer is becoming very popular and is being mainly used in high speed motion control applications where high precision is required. This paper focus on...Show More

Abstract:

The Disturbance observer is becoming very popular and is being mainly used in high speed motion control applications where high precision is required. This paper focus on the problem of designing a nonlinear disturbance observer for good estimation of external disturbances acting on the body of quadcopter during flying for attitude, altitude as well as position regulation control problem. The proposed controller is based on composite controller scheme, consists of a nonlinear disturbance observer and a Backstepping controller.The stability analysis of the nonlinear disturbance observer is successfully done using Lyapunov stability theory. The effectiveness of the proposed disturbance observer is investigated by MATLAB simulation. The simulation results shows that Backstepping controller with nonlinear disturbance observer has good tracking ability in the presence of external disturbance.
Date of Conference: 23-26 October 2016
Date Added to IEEE Xplore: 22 December 2016
ISBN Information:
Conference Location: Florence, Italy

References

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