Disturbance observer-based backstepping control for quadrotor UAV manipulator attitude system

被引：3
|
作者：
Jiao, Ran [1 ]
Chou, Wusheng [1 ,2 ]
Rong, Yongfeng [1 ]
机构：
[1] Beihang Univ, Coll Mech Engn & Automat, Beijing, Peoples R China
[2] Beihang Univ, State Key Lab Virtual Real Technol & Syst, Beijing, Peoples R China
来源：
2020 CHINESE AUTOMATION CONGRESS (CAC 2020) | 2020年
基金：
国家重点研发计划;
关键词：
disturbance observer; backstepping controller; UAV manipulator; TRAJECTORY TRACKING CONTROL;
D O I：
10.1109/CAC51589.2020.9327203
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this work, we approach high-precision attitude control problem of UAV manipulators in presence of external disturbances. A disturbance observer is exploited to estimate the disturbance, meanwhile we used the estimated result as a feed-forward compensation. A backstepping controller is employed to stabilize the UAV attitude by feedback. The mathematical model of UAV manipulator is constructed by combining the UAV base and the equipped robotic arm together. Furthermore, to relieve the influence of sensor noise, we fused a tracking differentiator into the whole system. The constructed method is validated in realistic simulations, where we executed UAV manipulator hovering flight with varying external disturbances.
引用
收藏
页码：2523 / 2526
页数：4
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