Tracking Control of the Six-rotor UAV with Input Dead-zone and Saturation

被引：0
|
作者：
Di, Wangyue [1 ]
Tong, Xin [2 ]
Li, Zhigang [1 ]
机构：
[1] School of Electronics and Information Engineering, University of Science and Technology Liaoning, Anshan,114051, China
[2] School of Yingkou Institute of Technology, Yingkou,115014, China
来源：
IAENG International Journal of Applied Mathematics | 2022年 / 52卷 / 04期
关键词：
Aircraft control - Aircraft detection - Antennas - Backstepping - Closed loop control systems - MATLAB - Navigation - System stability - Unmanned aerial vehicles (UAV);
D O I：
暂无
中图分类号：
学科分类号：
摘要：
A trajectory tracking controller is designed for a six-rotor Unmanned Aerial Vehicles (UAV) with input dead-zone and saturation. The six-rotor UAV system is divided into two subsystems by using the double closed-loop control strategy. The outer loop control is used to control the position subsystem, and the inner loop control is used to control the attitude subsystem. The dead-zone and saturation are non-smooth. This nonlinear property is approximated by a non-affine smooth function and transformed from non-affine to affine by using the mean-value theorem. Applied with backstepping method and the Nussbaum gain method, the tracking controller of the six-rotor UAV system is designed, which effectively solves the influence of input dead-zone and saturation on system instability, realizes tracking control, and ensures the stability of the system. Finally, the effectiveness of the proposed method is verified by the MATLAB simulation example. © 2022, IAENG International Journal of Applied Mathematics. All Rights Reserved.
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