A joint attitude control method for small unmanned aerial vehicles based on prediction incremental backstepping

被引：0
|
作者：
Xie, Ting Ting [1 ]
Zheng, Jishi [1 ]
Chu, Shu-Chuan [2 ]
机构：
[1] College of Information Science and Engineering, Fujian University of Technology, No.3 Xueyuan Road, University Town, Minhou, Fuzhou City,Fujian Province, China
[2] School of Computer Science, Engineering and Mathematics Flinders University, Australia
来源：
Journal of Information Hiding and Multimedia Signal Processing | 2016年 / 7卷 / 02期
关键词：
Attitude controller - Back-stepping controls - Movement equations - Non linear control - Prediction filter - Robust performance - Second-order control systems - Small unmanned aerial vehicles;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
A new second-order joint attitude control method for Small Unmanned Aerial Vehicles (SUAVs) is presented in this paper. Based on lyapunov theory, a second-order backstepping control law is developed. An incremental control approach called Incremental Backstepping (IB) is used to increase the robust performance of the second-order control system. A new joint incremental backstepping attitude controller is proposed for SUAVs based on the movement equations. A prediction filter is added to enhance the accuracy of the sensors data and eliminate the time delay. The simulation results show the approach presented is valid. © 2016.
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页码：277 / 285
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