A Joint Attitude Control Method for Small Unmanned Aerial Vehicles Based on Prediction Incremental Backstepping

Tingting Xie, Jishi Zheng, Shu-Chuan Chu

    Research output: Contribution to journalArticle

    3 Citations (Scopus)

    Abstract

    A new second-order joint attitude control method for Small Unmanned Aerial Vehicles (SUAVs) is presented in this paper. Based on lyapunov theory, a second-order backstepping control law is developed. An incremental control approach called Incremental Backstepping (IB) is used to increase the robust performance of the second-order control system. A new joint incremental backstepping attitude controller is proposed for SUAVs based on the movement equations. A prediction filter is added to enhance the accuracy of the sensors data and eliminate the time delay. The simulation results show the approach presented is valid.

    Original languageEnglish
    Pages (from-to)277-285
    Number of pages9
    JournalJournal of Information Hiding and Multimedia Signal Processing
    Volume7
    Issue number2
    Publication statusPublished - 2016

    Fingerprint Dive into the research topics of 'A Joint Attitude Control Method for Small Unmanned Aerial Vehicles Based on Prediction Incremental Backstepping'. Together they form a unique fingerprint.

  • Cite this