Nonlinear Backstepping Trajectory Tracking Control for a Quadcopter with Experimental Validation
This paper addresses the nonlinear control problem for a quadcopter. The proposed control strategy ensures effective trajectory tracking with ultimately bounded errors. A nonlinear controller employing a backstepping framework is designed to stabilize the quadcopter with damping effects. Simulation and experimental results demonstrate the controller's capability to maintain stability and accurately follow reference trajectory, validating the effectiveness of the proposed method.
Authors
- Wei Xie (ORCID: https://orcid.org/0000-0003-4984-6659)
- Yi Shi (ORCID: https://orcid.org/0000-0001-5819-3034)
- Siwei Xiang
- Kairong Duan (ORCID: https://orcid.org/0000-0003-1375-1826)
- Ziying Yang
- Yu Yao (ORCID: https://orcid.org/0000-0003-0244-5102)
- Weidong Zhang (ORCID: https://orcid.org/0009-0008-0588-3996)
Institutions
- Shanghai Jiao Tong University (CN)
- University of Science and Technology Beijing (CN)
Publication Details
- Published
- 2024-11-01
- DOI
- https://doi.org/10.1109/cac63892.2024.10865011
- Primary Topic
- Adaptive Control of Nonlinear Systems
- Type
- article
- Field-Weighted Citation Impact
- 0.00
Funders
- National Natural Science Foundation of China