Nonlinear robust backstepping controller for attitude control of a rotary wing unmanned aerial vehicle

T. K. Roy; M. Morshed; F. K. Tumpa; M. F. Pervej

doi:10.1109/WIECON-ECE.2015.7443903

Nonlinear robust backstepping controller for attitude control of a rotary wing unmanned aerial vehicle

T. K. Roy, M. Morshed, F. K. Tumpa, M. F. Pervej

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding contribution › peer-review

2 Citations (Scopus)

Abstract

This paper presents a nonlinear control scheme to control the attitude of a small-scale rotary wing unmanned aerial vehicle (RUAV) in the presence of external disturbances. The proposed attitude controller is designed in such a way that it is robust to external disturbances. To prove the convergence of the attitude tacking error to zero, i.e., the actual attitude of the closed-loop system to reference attitude of RUAV, a control Lyapunov function (CLF) is formulated in every step of the design procedure which is ensured through the negative definiteness of the derivative of CLF. Finally, the performance of the proposed controller is tested using a high-fidelity simulation model by considering external wind gusts into the system. Simulation results illustrate the robustness of the proposed controller over an existing controller in terms of rejecting external disturbances.

Original language	English
Title of host publication	2015 IEEE International WIE Conference on Electrical and Computer Engineering (WIECON-ECE)
Place of Publication	Piscataway, NJ
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	227-230
Number of pages	4
ISBN (Electronic)	9781467387866, 9781467387859
DOIs	https://doi.org/10.1109/WIECON-ECE.2015.7443903
Publication status	Published - 2015
Externally published	Yes
Event	IEEE International WIE Conference on Electrical and Computer Engineering, WIECON-ECE 2015 - Dhaka, Bangladesh Duration: 19 Dec 2015 → 20 Dec 2015

Other

Other	IEEE International WIE Conference on Electrical and Computer Engineering, WIECON-ECE 2015
Country/Territory	Bangladesh
City	Dhaka
Period	19/12/15 → 20/12/15

Keywords

Control Lyapunov function
external disturbances
robust backstepping control
RUAV

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10.1109/WIECON-ECE.2015.7443903

Cite this

Roy, T. K., Morshed, M., Tumpa, F. K., & Pervej, M. F. (2015). Nonlinear robust backstepping controller for attitude control of a rotary wing unmanned aerial vehicle. In 2015 IEEE International WIE Conference on Electrical and Computer Engineering (WIECON-ECE) (pp. 227-230). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/WIECON-ECE.2015.7443903

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title = "Nonlinear robust backstepping controller for attitude control of a rotary wing unmanned aerial vehicle",

abstract = "This paper presents a nonlinear control scheme to control the attitude of a small-scale rotary wing unmanned aerial vehicle (RUAV) in the presence of external disturbances. The proposed attitude controller is designed in such a way that it is robust to external disturbances. To prove the convergence of the attitude tacking error to zero, i.e., the actual attitude of the closed-loop system to reference attitude of RUAV, a control Lyapunov function (CLF) is formulated in every step of the design procedure which is ensured through the negative definiteness of the derivative of CLF. Finally, the performance of the proposed controller is tested using a high-fidelity simulation model by considering external wind gusts into the system. Simulation results illustrate the robustness of the proposed controller over an existing controller in terms of rejecting external disturbances.",

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author = "Roy, {T. K.} and M. Morshed and Tumpa, {F. K.} and Pervej, {M. F.}",

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note = "IEEE International WIE Conference on Electrical and Computer Engineering, WIECON-ECE 2015 ; Conference date: 19-12-2015 Through 20-12-2015",

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Roy, TK, Morshed, M, Tumpa, FK & Pervej, MF 2015, Nonlinear robust backstepping controller for attitude control of a rotary wing unmanned aerial vehicle. in 2015 IEEE International WIE Conference on Electrical and Computer Engineering (WIECON-ECE). Institute of Electrical and Electronics Engineers (IEEE), Piscataway, NJ, pp. 227-230, IEEE International WIE Conference on Electrical and Computer Engineering, WIECON-ECE 2015, Dhaka, Bangladesh, 19/12/15. https://doi.org/10.1109/WIECON-ECE.2015.7443903

Nonlinear robust backstepping controller for attitude control of a rotary wing unmanned aerial vehicle. / Roy, T. K.; Morshed, M.; Tumpa, F. K. et al.
2015 IEEE International WIE Conference on Electrical and Computer Engineering (WIECON-ECE). Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2015. p. 227-230.

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding contribution › peer-review

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N2 - This paper presents a nonlinear control scheme to control the attitude of a small-scale rotary wing unmanned aerial vehicle (RUAV) in the presence of external disturbances. The proposed attitude controller is designed in such a way that it is robust to external disturbances. To prove the convergence of the attitude tacking error to zero, i.e., the actual attitude of the closed-loop system to reference attitude of RUAV, a control Lyapunov function (CLF) is formulated in every step of the design procedure which is ensured through the negative definiteness of the derivative of CLF. Finally, the performance of the proposed controller is tested using a high-fidelity simulation model by considering external wind gusts into the system. Simulation results illustrate the robustness of the proposed controller over an existing controller in terms of rejecting external disturbances.

AB - This paper presents a nonlinear control scheme to control the attitude of a small-scale rotary wing unmanned aerial vehicle (RUAV) in the presence of external disturbances. The proposed attitude controller is designed in such a way that it is robust to external disturbances. To prove the convergence of the attitude tacking error to zero, i.e., the actual attitude of the closed-loop system to reference attitude of RUAV, a control Lyapunov function (CLF) is formulated in every step of the design procedure which is ensured through the negative definiteness of the derivative of CLF. Finally, the performance of the proposed controller is tested using a high-fidelity simulation model by considering external wind gusts into the system. Simulation results illustrate the robustness of the proposed controller over an existing controller in terms of rejecting external disturbances.

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Nonlinear robust backstepping controller for attitude control of a rotary wing unmanned aerial vehicle

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