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.
|Number of pages||9|
|Journal||Journal of Information Hiding and Multimedia Signal Processing|
|Publication status||Published - 2016|
- Backstepping control
- Incremental backstepping
- Nonlinear control
- Unmanned aerial vehicle