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Indexed by:Journal Papers

Date of Publication:2017-07-01

Journal:ISA Transactions

Included Journals:Scopus、EI、PubMed

Volume:69

Page Number:242-255

ISSN No.:00190578

Key Words:Back-stepping,Compensation control,Prescribed performance characteristic,QR-UAV

Abstract:A compensation control strategy based on adaptive back-stepping technique is presented to address the problem of attitude adjustment for a quad-rotor unmanned aerial vehicle (QR- UAV) with inertia parameter uncertainties, the limited airflow disturbance and the partial loss of rotation speed effectiveness. In the design process of control system, adaptive estimation technique is introduced into the closed loop system in order to compensate the lumped disturbance term. More specifically, the designed controller utilizes "prescribed performance bounds" method, and therefore guarantees the transient performance of tracking errors, even in the presence of the lumped disturbance. Adaptive compensation algorithms under the proposed closed loop system structure are derived in the sense of Lyapunov stability analysis such that the attitude tracking error converge to a small neighborhood of equilibrium point. Finally, the simulation results demonstrate the effectiveness of the proposed controller.Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.