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Open AccessArticle

Quadcopter Adaptive Trajectory Tracking Control: A New Approach via Backstepping Technique

Faculty of Mechanical and Aerospace Engineering, Sejong University, Seoul 143-747(05006), Korea
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Appl. Sci. 2019, 9(18), 3873; https://doi.org/10.3390/app9183873
Received: 9 August 2019 / Revised: 11 September 2019 / Accepted: 12 September 2019 / Published: 15 September 2019
(This article belongs to the Special Issue Unmanned Aerial Vehicles (UAVs))
Nowadays, quadcopter unmanned aerial vehicles play important roles in several real-world applications and the improvement of their control performance has become an increasingly attractive topic of a great number of studies. In this paper, we present a new approach for the design and stability analysis of a quadcopter adaptive trajectory tracking control. Based on the quadcopter nonlinear dynamics model which is obtained by using the Euler–Lagrange approach, the tracking controller is devised via the backstepping control technique. Besides, an adaptive law is proposed to deal with the system parameterized uncertainties and to guarantee that the control input is finite. In addition, the vehicle’s vertical descending acceleration is ensured to not exceed the gravitational acceleration by making use of a barrier Lyapunov function. It is shown that the suitable parameter estimator is stable and the tracking errors are guaranteed to be asymptotically stable simultaneously. By prescribing certain flight conditions, we use numerical simulations to compare the control performance of our method to that of existing approaches. The simulation results demonstrate the effectiveness of the proposed algorithm. View Full-Text
Keywords: tracking control; adaptive control; backstepping design; unmanned aerial vehicle; quadcopter tracking control; adaptive control; backstepping design; unmanned aerial vehicle; quadcopter
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MDPI and ACS Style

Nguyen, A.T.; Xuan-Mung, N.; Hong, S.-K. Quadcopter Adaptive Trajectory Tracking Control: A New Approach via Backstepping Technique. Appl. Sci. 2019, 9, 3873. https://doi.org/10.3390/app9183873

AMA Style

Nguyen AT, Xuan-Mung N, Hong S-K. Quadcopter Adaptive Trajectory Tracking Control: A New Approach via Backstepping Technique. Applied Sciences. 2019; 9(18):3873. https://doi.org/10.3390/app9183873

Chicago/Turabian Style

Nguyen, Anh T.; Xuan-Mung, Nguyen; Hong, Sung-Kyung. 2019. "Quadcopter Adaptive Trajectory Tracking Control: A New Approach via Backstepping Technique" Appl. Sci. 9, no. 18: 3873. https://doi.org/10.3390/app9183873

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