BACKSTEPPING CONTROL PERFORMANCE ENHANCEMENT USING CLOSE LOOP IDENTIFICATION FOR QUADROTOR TRAJECTORY TRACKING

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PARSA ASHKAN; KALHOR AHMAD; AMIRI ATASHGAH MOHAMMADALI

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Paper Information

Journal: Modares Mechanical Engineering Year:2017 | Volume:16 | Issue:11 Page(s): 224-234

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Title

BACKSTEPPING CONTROL PERFORMANCE ENHANCEMENT USING CLOSE LOOP IDENTIFICATION FOR QUADROTOR TRAJECTORY TRACKING

Author(s)

PARSA ASHKAN | KALHOR AHMAD | AMIRI ATASHGAH MOHAMMADALI | Issue Writer Certificate

Keywords

LEAST-SQUAREQ1

QUADROTORQ1

BACKSTEPPINGQ1

ONLINE IDENTIFICATIONQ1

TRAJECTORY TRACKINGQ2

Abstract

In this paper, using both linear and nonlinear identification methods based on iterative and recursive LEAST-SQUARE, the performance of a BACKSTEPPING control system of a QUADROTOR in the presence of uncertainties is improved. At first, the dynamic model of a QUADROTOR is introduced and descriptive equations are presented in an appropriate state-space in order to design a controller based on BACKSTEPPING method. Then the BACKSTEPPING controller is designed using virtual controller for TRAJECTORY TRACKING. In this control system, the control performance is not satisfactory because of the physical uncertainties existed in QUADROTOR. Consequently, an ONLINE IDENTIFICATION method is introduced and used to improve the performance of the controller. In this regard, some parameters, which are linear in the model structure, are identified by least square error technique and iterative least square method is used for identifying other parameters. The results indicate that the steady-state error is decreased and the ability of tracking of a desired trajectory in the presence of uncertainties is increased. Furthermore, the results demonstrate the stability of roll and pitch angles, while the method prevents the vibration of control forces.

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APA: Copy

PARSA, ASHKAN, KALHOR, AHMAD, & AMIRI ATASHGAH, MOHAMMADALI. (2017). BACKSTEPPING CONTROL PERFORMANCE ENHANCEMENT USING CLOSE LOOP IDENTIFICATION FOR QUADROTOR TRAJECTORY TRACKING. MODARES MECHANICAL ENGINEERING, 16(11 ), 224-234. SID. https://sid.ir/paper/178937/en

Vancouver: Copy

PARSA ASHKAN, KALHOR AHMAD, AMIRI ATASHGAH MOHAMMADALI. BACKSTEPPING CONTROL PERFORMANCE ENHANCEMENT USING CLOSE LOOP IDENTIFICATION FOR QUADROTOR TRAJECTORY TRACKING. MODARES MECHANICAL ENGINEERING[Internet]. 2017;16(11 ):224-234. Available from: https://sid.ir/paper/178937/en

IEEE: Copy

ASHKAN PARSA, AHMAD KALHOR, and MOHAMMADALI AMIRI ATASHGAH, “BACKSTEPPING CONTROL PERFORMANCE ENHANCEMENT USING CLOSE LOOP IDENTIFICATION FOR QUADROTOR TRAJECTORY TRACKING,” MODARES MECHANICAL ENGINEERING, vol. 16, no. 11 , pp. 224–234, 2017, [Online]. Available: https://sid.ir/paper/178937/en

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