Abstract
This paper addresses a new attitude controller of quadrotor UAV in the presence of parameters uncertainty and bounded external disturbances. Based on the attitude dynamic model considering parameters uncertainty and bounded external disturbances. Applying backstepping approach, an adaptive nonsmooth attitude controller is developed by integrating nonsmooth control and adaptive control techniques. And the design procedure and stability analysis of the closed-loop system is detailed. Finally, via some simulation results and comparisons, the effectiveness and advantages of the proposed method are illustrated.
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Acknowledgements
The authors would like to thank the anonymous reviewers for their valuable comments. This work was supported in part by Initial Scientific Research Fund in FJUT under Grant GY-Z13101, in part by the Natural Science Foundation of Fujian Province under Grant 2018J01640, and in part by the Education and research projects for young teachers in Fujian Provincial Education Department under Grant JAT170369. and in part by the Technology Development Base of Fujian Industrial Integration Automation Industries.
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He, D., Gao, P., Liu, L., Huang, J., Li, J., Jiang, X. (2019). Modified Adaptive Nonsmooth Attitude Tracking Control of Quadrotor UAV with Dynamic Uncertainties. In: Zhao, Y., Wu, TY., Chang, TH., Pan, JS., Jain, L. (eds) Advances in Smart Vehicular Technology, Transportation, Communication and Applications. VTCA 2018. Smart Innovation, Systems and Technologies, vol 128. Springer, Cham. https://doi.org/10.1007/978-3-030-04585-2_1
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DOI: https://doi.org/10.1007/978-3-030-04585-2_1
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