Tracking of a moving ground target by a quadrotor using a backstepping approach based on a full state cascaded dynamics
In this paper, a tracking controller is formulated for a quadrotor to track a moving ground target. The quadrotor exhibits distinct hierarchical dynamics that allows its position to be controlled by its attitude. This motivates the use of backstepping control on the underactuated quadrotor. Most bac...
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sg-ntu-dr.10356-837732020-03-07T14:02:40Z Tracking of a moving ground target by a quadrotor using a backstepping approach based on a full state cascaded dynamics Tan, Chun Kiat Wang, Jianliang Paw, Yew Chai Ng, Teng Yong School of Electrical and Electronic Engineering School of Mechanical and Aerospace Engineering Quadrotor UAV In this paper, a tracking controller is formulated for a quadrotor to track a moving ground target. The quadrotor exhibits distinct hierarchical dynamics that allows its position to be controlled by its attitude. This motivates the use of backstepping control on the underactuated quadrotor. Most backstepping architecture controls the quadrotor position and attitude independently, and couples them with inverse kinematics. Inverse kinematics computes the attitude angles required to achieve a desired acceleration. However unmodeled effects are shown to cause inexact inversion resulting in tracking error. The approach proposed in this paper uses a re-formulated full state cascaded dynamics to eliminate the need for inverse kinematics in a full state backstepping control architecture. It is shown that zero steady state error is achieved in the presence of unmodeled aerodynamics effect and wind disturbance despite no integral action. In addition, a backstepping formulation is derived using contraction theory that guarantees the boundedness of state response under bounded disturbances such as wind. This improves the system performance. Numerical simulations are performed using the proposed controller to track a target moving along predefined paths and the results are compared with a benchmark controller derived using inverse kinematics. The results show that the proposed controller is able to achieve better tracking performance under unmodeled aerodynamic effects and wind disturbance as compared with the benchmark controller. Accepted version 2017-07-05T05:58:56Z 2019-12-06T15:31:45Z 2017-07-05T05:58:56Z 2019-12-06T15:31:45Z 2016 Journal Article Tan, C. K., Wang, J., Paw, Y. C., & Ng, T. Y. (2016). Tracking of a moving ground target by a quadrotor using a backstepping approach based on a full state cascaded dynamics. Applied Soft Computing, 47, 47-62. 1568-4946 https://hdl.handle.net/10356/83773 http://hdl.handle.net/10220/42805 10.1016/j.asoc.2016.04.007 en Applied Soft Computing © 2016 Elsevier B.V. This is the author created version of a work that has been peer reviewed and accepted for publication by Applied Soft Computing, Elsevier B.V. It incorporates referee’s comments but changes resulting from the publishing process, such as copyediting, structural formatting, may not be reflected in this document. The published version is available at: [http://dx.doi.org/10.1016/j.asoc.2016.04.007]. 44 p. application/pdf |
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Quadrotor UAV Tan, Chun Kiat Wang, Jianliang Paw, Yew Chai Ng, Teng Yong Tracking of a moving ground target by a quadrotor using a backstepping approach based on a full state cascaded dynamics |
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In this paper, a tracking controller is formulated for a quadrotor to track a moving ground target. The quadrotor exhibits distinct hierarchical dynamics that allows its position to be controlled by its attitude. This motivates the use of backstepping control on the underactuated quadrotor. Most backstepping architecture controls the quadrotor position and attitude independently, and couples them with inverse kinematics. Inverse kinematics computes the attitude angles required to achieve a desired acceleration. However unmodeled effects are shown to cause inexact inversion resulting in tracking error. The approach proposed in this paper uses a re-formulated full state cascaded dynamics to eliminate the need for inverse kinematics in a full state backstepping control architecture. It is shown that zero steady state error is achieved in the presence of unmodeled aerodynamics effect and wind disturbance despite no integral action. In addition, a backstepping formulation is derived using contraction theory that guarantees the boundedness of state response under bounded disturbances such as wind. This improves the system performance. Numerical simulations are performed using the proposed controller to track a target moving along predefined paths and the results are compared with a benchmark controller derived using inverse kinematics. The results show that the proposed controller is able to achieve better tracking performance under unmodeled aerodynamic effects and wind disturbance as compared with the benchmark controller. |
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School of Electrical and Electronic Engineering |
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School of Electrical and Electronic Engineering Tan, Chun Kiat Wang, Jianliang Paw, Yew Chai Ng, Teng Yong |
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Article |
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Tan, Chun Kiat Wang, Jianliang Paw, Yew Chai Ng, Teng Yong |
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Tan, Chun Kiat |
title |
Tracking of a moving ground target by a quadrotor using a backstepping approach based on a full state cascaded dynamics |
title_short |
Tracking of a moving ground target by a quadrotor using a backstepping approach based on a full state cascaded dynamics |
title_full |
Tracking of a moving ground target by a quadrotor using a backstepping approach based on a full state cascaded dynamics |
title_fullStr |
Tracking of a moving ground target by a quadrotor using a backstepping approach based on a full state cascaded dynamics |
title_full_unstemmed |
Tracking of a moving ground target by a quadrotor using a backstepping approach based on a full state cascaded dynamics |
title_sort |
tracking of a moving ground target by a quadrotor using a backstepping approach based on a full state cascaded dynamics |
publishDate |
2017 |
url |
https://hdl.handle.net/10356/83773 http://hdl.handle.net/10220/42805 |
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1681049139325960192 |