Enhanced backstepping control for disturbances rejection in quadrotors
Ali Saibi, Hadjira Belaidi, Razika Boushaki, Recham Zine Eddine, Amrouche Hafid
Abstract
This work studies the issue of quadrotor trajectory tracking control in presence of disturbances and model uncertainties. The paper starts by extracting the kinematics and dynamics models of the quadrotor. This results in the motion equations, which eventually serve as a blueprint for creating the suggested smart flight control scheme. Secondly, an enhanced backstepping controller (BSC) is developed and tested to keep the quadrotor tracking the desired trajectory both in steady state and in presence of disturbances. Finally, BSC beside two other controllers: sliding mode controller (SMC) and proportional derivative controller (PDC) are implemented in MATLAB/Simulink and the obtained results are compared and conclusions are extracted. Therefore, it is established that PDC is not robust to disturbances as noise will be amplified due to the derivative term. Whereas, although SMC is robust to parameter variations and disturbances; however, it is not continuous which may affect the actuators due to the increased gains which may saturate them. In contrast, BSC requires too many tuning parameters; however, it ensures Lyapunov Stability and does not depend on the system as it does not involve cancelling system nonlinearity. Moreover, BSC results are 1017 better than the results of the two other controllers.
Keywords
Backstepping controller; Disturbance rejection; Dynamics model; PID controller; Quadrotor
DOI:
https://doi.org/10.11591/eei.v11i6.3997
Refbacks
There are currently no refbacks.
This work is licensed under a
Creative Commons Attribution-ShareAlike 4.0 International License .
<div class="statcounter"><a title="hit counter" href="http://statcounter.com/free-hit-counter/" target="_blank"><img class="statcounter" src="http://c.statcounter.com/10241695/0/5a758c6a/0/" alt="hit counter"></a></div>
Bulletin of EEI Stats
Bulletin of Electrical Engineering and Informatics (BEEI) ISSN: 2089-3191, e-ISSN: 2302-9285 This journal is published by the Institute of Advanced Engineering and Science (IAES) in collaboration with Intelektual Pustaka Media Utama (IPMU) .