The DOI matches its Crossref record; 2 of the 2 references it cites were found in a registry or an index.
Robust Backstepping Sliding Mode Control and Observer-based Fault Estimation for a Quadrotor UAV
Abstract
This study gives the mathematic model of a quadrotor unmanned aerial vehicle (UAV) and then proposes a robust nonlinear controller which combines the sliding-mode control technique and the backstepping control technique. To achieve Cartesian position trajectory tracking capability, the construction of the controller can be divided into two stages: a regular SMC controller for attitude subsystem (inner loop) is first developed to guarantee fast convergence rapidity of Euler angles and the backstepping technique is applied to the position loop until desired attitudes are obtained and then the ultimate control laws. The stability of the closed-loop system is guaranteed by stabilizing each of the subsystems step by step and the robustness of the controller against model uncertainty and external disturbances is investigated. In addition, an adaptive observer-based fault estimation scheme is also considered for taking off mode. Simulations are conducted to demonstrate the effectiveness of the designed robust nonlinear controller and the fault estimation scheme.
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Cites
Bibliographical review on reconfigurable fault-tolerant control systems
Zhang, Y., & Jiang, J. (2008) · Annual Reviews in Control · doi:10.1016/j.arcontrol.2008.03.008 · Cited by 2,652
Data-based techniques focused on modern industry: An overview
Yin, S., Li, X., Gao, H., & Kaynak, O. (2015) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2014.2308133 · Cited by 1,025
Cited by
An Overview of Finite/Fixed-Time Control and Its Application in Engineering Systems
Liu, Y., Li, H., Lu, R., Zuo, Z., & Li, X. (2022) · IEEE/CAA Journal of Automatica Sinica · doi:10.1109/jas.2022.105413 · Cited by 512
Labbadi, M., & Cherkaoui, M. (2020) · ISA Transactions · doi:10.1016/j.isatra.2019.10.012 · Cited by 293
Fuzzy Gain-Scheduling PID for UAV Position and Altitude Controllers
Melo, A. G., Andrade, F. A. A., Guedes, I. P., Carvalho, G. F., Zachi, A. R. L., & Pinto, M. F. (2022) · Sensors · doi:10.3390/s22062173 · Cited by 52
Liu, S., Jiang, B., Mao, Z., & Ma, Y. (2022) · Sensors · doi:10.3390/s22166212 · Cited by 16
Self-citationDong, Z.-Y., Xinyi, Y., Wei, Y., Zhou, L., & Ou, L. (2024) · IEEE Transactions on Instrumentation and Measurement · doi:10.1109/tim.2024.3481544 · Cited by 6
Metadata
- Authors
- Chen, F., Jiang, R., Zhang, K., Jiang, B., & Tao, G.
- Venue
- IEEE Transactions on Industrial Electronics
- Published
- 2016
- Pages
- 1-1
- ISSN
- 0278-0046 (ISSN-L)
- 1557-9948
- OpenAlex
- W2334750579
- Cited by
- 642
- References
- 2
- FWCI
- 47.14
- Type
- journal article
- Language
- en
- Open access
- closed
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- Chen, F., Jiang, R., Zhang, K., Jiang, B., & Tao, G. (2016). Robust Backstepping Sliding Mode Control and Observer-based Fault Estimation for a Quadrotor UAV. IEEE Transactions on Industrial Electronics. https://doi.org/10.1109/tie.2016.2552151
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