Abstract
This paper concentrates on attitude control and tracking control about the hex-rotor Unmanned Aerial Vehicle (UAV). This kind of aircraft is a nonlinear, coupled MIMO system. Considering the model uncertainties and the external disturbances, good robustness is one of the key factors for the UAV. Based on the characteristics of the hex-rotor UAV model, nonlinear H\( \infty \) controller and adaptive backstepping sliding mode controller are designed to realize the attitude and position control respectively. And the control strategies are verified by the simulation. It’s proved that the control system has strong robustness to both the disturbance and the parametric variation.
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© 2016 Springer Science+Business Media Singapore
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Zhang, Z., Liu, Z., Wen, N. (2016). Research on Nonlinear H∞/Adaptive Backstepping Control Method for a Hex-Rotor Unmanned Aerial Vehicle. In: Zhang, L., Song, X., Wu, Y. (eds) Theory, Methodology, Tools and Applications for Modeling and Simulation of Complex Systems. AsiaSim SCS AutumnSim 2016 2016. Communications in Computer and Information Science, vol 643. Springer, Singapore. https://doi.org/10.1007/978-981-10-2663-8_15
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DOI: https://doi.org/10.1007/978-981-10-2663-8_15
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Online ISBN: 978-981-10-2663-8
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