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.
引用
收藏
相关论文
共 50 条
  • [31] Adaptive Tracking Control for Partial State Constraints Nonlinear Systems With Dead-zone Input and Unknown Control Coefficients
    Zhao, Haiou
    Zhang, Xianfu
    Fan, Debao
    Liu, Qingrong
    2022 41ST CHINESE CONTROL CONFERENCE (CCC), 2022, : 375 - 380
  • [32] Adaptive Event-Triggered Practical Tracking Control for a Class of Electrical Flexible-Joint Robotic Manipulators With Input Dead-Zone and Saturation
    Li, Gaoshang
    Li, Jian
    IEEE ACCESS, 2024, 12 : 149481 - 149491
  • [33] Non-singular fixed-time pose tracking control for spacecraft with dead-zone input
    Ji, Yuxia
    Chen, Li
    Zhang, Jun
    Zhang, Dexin
    Shao, Xiaowei
    AIRCRAFT ENGINEERING AND AEROSPACE TECHNOLOGY, 2022, 94 (08): : 1390 - 1408
  • [34] Tracking Control for Full-State Constrained Wheeled Robot System with Unknown Dead-Zone Input
    Wang, Zhen
    Hua, Changchun
    Chen, Jiannan
    Luo, Xi
    2021 PROCEEDINGS OF THE 40TH CHINESE CONTROL CONFERENCE (CCC), 2021, : 473 - 478
  • [35] Tracking Control for Nonlinear Systems with Input Delay and Dead-Zone via Adaptive Fuzzy Backstepping Approach
    Liu, Siwen
    Zhang, Yanlong
    Wang, Huanqing
    2021 13TH INTERNATIONAL CONFERENCE ON ADVANCED COMPUTATIONAL INTELLIGENCE (ICACI), 2021, : 112 - 116
  • [36] A Neural Network Approach for Tracking Control of Uncertain Switched Nonlinear Systems with Unknown Dead-Zone Input
    Lei Yu
    Shumin Fei
    Gang Yang
    Circuits, Systems, and Signal Processing, 2015, 34 : 2695 - 2710
  • [37] Adaptive tracking control of uncertain nonlinear system with time delays, external disturbances and dead-zone input
    Liu, Zhen-Guo
    Li, Bing-Huan
    Jiao, Ting
    Xue, Lingrong
    INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 2020, 51 (11) : 1987 - 2004
  • [38] Output Feedback Tracking Control of Uncertain Nonlinear Systems with Non-Symmetric Dead-Zone Input
    Chiang, Chiang-Cheng
    Liu, Cheng-Chieh
    2012 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ-IEEE), 2012,
  • [39] ADRC Based on Artificial Neural Network for a Six-rotor UAV
    Xi, Lin
    Shao, Yunfeng
    Zou, Suli
    Ma, Zhongjing
    2021 PROCEEDINGS OF THE 40TH CHINESE CONTROL CONFERENCE (CCC), 2021, : 7809 - 7815
  • [40] Adaptive tracking of nonlinear systems with non-symmetric dead-zone input
    Ibrir, Salim
    Xie, Wen Fang
    Su, Chun-Yi
    AUTOMATICA, 2007, 43 (03) : 522 - 530
12345