Attitude Tracking Control for Quadrotors under Unknown Disturbances Based on Dual-Loop Nonlinear Command Filters

Yuan Li; Zhan Li; Xinghu Yu; Xiaolong Zheng; Xuebo Yang; Yipeng Yang

doi:10.1109/TCSII.2024.3351686

Attitude Tracking Control for Quadrotors under Unknown Disturbances Based on Dual-Loop Nonlinear Command Filters

Yuan Li
, Zhan Li^*
, Xinghu Yu
, Xiaolong Zheng
, Xuebo Yang^*
, Yipeng Yang

^*Corresponding author for this work

School of Astronautics

Harbin Institute of Technology
Peng Cheng Laboratory
Ningbo Institute of Intelligent Equipment Technology Company Ltd

Research output: Contribution to journal › Article › peer-review

10 Scopus citations

Abstract

Attitude tracking of quadrotors under external disturbances is a challenging problem. This brief presents a backstepping method that integrates a function-adaptive rule designed as an attitude controller for quadrotors. The adaptive law based on command filters is capable of achieving an online adaptive approximation of the unknown function of the system without requiring any additional function-fitting technology. The command filter is designed as a unique double-loop nonlinear structure that can estimate the derivative of unknown signals. The system's stability is proven using the Lyapunov criteria. The experiments are carried out for the Hover system. The results verify the effectiveness of the designed controller.

Original language	English
Pages (from-to)	2769-2773
Number of pages	5
Journal	IEEE Transactions on Circuits and Systems II: Express Briefs
Volume	71
Issue number	5
DOIs	https://doi.org/10.1109/TCSII.2024.3351686
State	Published - 1 May 2024

Keywords

Attitude tracking
backstepping
command filter
quadrotors
unknown disturbances

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10.1109/TCSII.2024.3351686

Cite this

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title = "Attitude Tracking Control for Quadrotors under Unknown Disturbances Based on Dual-Loop Nonlinear Command Filters",

abstract = "Attitude tracking of quadrotors under external disturbances is a challenging problem. This brief presents a backstepping method that integrates a function-adaptive rule designed as an attitude controller for quadrotors. The adaptive law based on command filters is capable of achieving an online adaptive approximation of the unknown function of the system without requiring any additional function-fitting technology. The command filter is designed as a unique double-loop nonlinear structure that can estimate the derivative of unknown signals. The system's stability is proven using the Lyapunov criteria. The experiments are carried out for the Hover system. The results verify the effectiveness of the designed controller.",

keywords = "Attitude tracking, backstepping, command filter, quadrotors, unknown disturbances",

author = "Yuan Li and Zhan Li and Xinghu Yu and Xiaolong Zheng and Xuebo Yang and Yipeng Yang",

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AU - Li, Yuan

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AU - Yu, Xinghu

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AU - Yang, Xuebo

AU - Yang, Yipeng

PY - 2024/5/1

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N2 - Attitude tracking of quadrotors under external disturbances is a challenging problem. This brief presents a backstepping method that integrates a function-adaptive rule designed as an attitude controller for quadrotors. The adaptive law based on command filters is capable of achieving an online adaptive approximation of the unknown function of the system without requiring any additional function-fitting technology. The command filter is designed as a unique double-loop nonlinear structure that can estimate the derivative of unknown signals. The system's stability is proven using the Lyapunov criteria. The experiments are carried out for the Hover system. The results verify the effectiveness of the designed controller.

AB - Attitude tracking of quadrotors under external disturbances is a challenging problem. This brief presents a backstepping method that integrates a function-adaptive rule designed as an attitude controller for quadrotors. The adaptive law based on command filters is capable of achieving an online adaptive approximation of the unknown function of the system without requiring any additional function-fitting technology. The command filter is designed as a unique double-loop nonlinear structure that can estimate the derivative of unknown signals. The system's stability is proven using the Lyapunov criteria. The experiments are carried out for the Hover system. The results verify the effectiveness of the designed controller.

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KW - command filter

KW - quadrotors

KW - unknown disturbances

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JF - IEEE Transactions on Circuits and Systems II: Express Briefs

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ER -

Attitude Tracking Control for Quadrotors under Unknown Disturbances Based on Dual-Loop Nonlinear Command Filters

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