TY - JOUR
T1 - A Joint Attitude Control Method for Small Unmanned Aerial Vehicles Based on Prediction Incremental Backstepping
AU - Xie, Tingting
AU - Zheng, Jishi
AU - Chu, Shu-Chuan
PY - 2016
Y1 - 2016
N2 - 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.
AB - 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.
KW - Backstepping control
KW - Incremental backstepping
KW - Nonlinear control
KW - Unmanned aerial vehicle
UR - http://bit.kuas.edu.tw/~jihmsp/2016/vol7/JIH-MSP-2016-02-006.pdf
UR - http://www.scopus.com/inward/record.url?scp=84960120022&partnerID=8YFLogxK
M3 - Article
SN - 2073-4212
VL - 7
SP - 277
EP - 285
JO - Journal of Information Hiding and Multimedia Signal Processing
JF - Journal of Information Hiding and Multimedia Signal Processing
IS - 2
ER -