Trajectory Tracking and Controlling of Quad-rotor Aircrafts Based on IBS and LADRC

WENG Falu; GUO Yi; LI Shengfei

doi:10.3969/j.issn.1671-637x.2019.06.013

[3] JAFARI H, ZAREH M, ROSHANIAN J, et al. An optimal guidance law applied to quadrotor using LQR method［J］. Transactions of the Japan Society for Aeronautical & Space Sciences, 2010, 53(179): 32-39.

[4] MOKHTARI A, BENALLEGUE A, BELAIDI A.Polynomial linear quadratic Gaussian and sliding mode observer for a quadrotor unmanned aerial vehicle［J］. Journal of Robotics and Mechatronics, 2005, 17(4):483-495.

[5] GUERRERO-CASTELLANOS J F, T, LLEZ-GUZM, N J J, DURAND S, et al.Event-triggered nonlinear control for attitude stabilization of a quadrotor［C］//International Conference on Unmanned Aircraft Systems (ICUAS), IEEE, 2013:584-591.

[6] ZHAO S L, AN H L, ZHANG D B, et al. A new feedback linearization LQR control for attitude of quadrotor［C］//The 13th International Conference on Control Automation Robotics & Vision (ICARCV), IEEE, 2014:1593-1597.

[9] JIA Z Y, YU J Q, MEI Y S, et al. Integral backstepping sliding mode control for quadrotor helicopter under external uncertain disturbances［J］. Aerospace Science and Technology, 2017, 68: 299-307.

[10] YOUNES Y A, DRAK A, NOURA H, et al. Quadrotor position control using cascaded adaptive integral backstepping controllers［C］//Applied Mechanics & Materials, 2014: 98-106.

[13] MNASRI C, GASMI M.LMI-based adaptive fuzzy integral sliding mode control of mismatched uncertain systems［J］. International Journal of Applied Mathematics and Computer Science, 2011, 21(4): 605-615.

[20] SALAZAR-CRUZ S, ESCARENO J, LARA D, et al. Embedded control system for a four-rotor UAV［J］.International Journal of Adaptive Control and Signal Processing, 2007, 21(2/3):,189-204.