Trajectory tracking control of a 6-DOF quadrotor UAV with input saturation via backstepping |
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| Authors: | Rui Wang Jinkun Liu |
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| Institution: | 1. Key Laboratory of Information Technology for Autonomous Underwater Vehicles, Institute of Acoustics, Chinese Academy of Sciences, Beijing 100190, PR China;2. School of Automation Science and Electrical Engineering, Beihang University (Beijing University of Aeronautics and Astronautics), Beijing 100191, PR China |
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| Abstract: | In this paper, the trajectory tracking control problem of a six-degree of freedom (6-DOF) quadrotor unmanned aerial vehicle (UAV) with input saturation is studied. Applying a hierarchical control structure, a priori-bounded control thrust and the desired orientations are derived to stabilize the translational subsystem without singularities. By using a backstepping approach with a Nussbaum function, a priori-bounded control torque for the rotational subsystem is designed to track the desired orientations generated by the translational subsystem. With the proposed control scheme, the latent singularities in the attitude extraction process caused by saturation nonlinearities are avoided, and globally uniformly ultimately bounded (UUB) stability of the closed-loop system is achieved. The tracking error bound is further determined which can be made arbitrarily small by tuning certain control gains. Numerical simulation results are provided to show the effectiveness of the proposed control scheme. |
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| Keywords: | Corresponding author |
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