RESEARCH ARTICLE
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Trajectory tracking control for quadrotor unmanned aerial vehicle with input delay and disturbances
Shuo Li,
Na Duan,
Huifang Min,
Shuo Li
School of Electrical Engineering & Automation, Jiangsu Normal University, Xuzhou, China
Contribution: Formal analysis, Software, Writing - original draft, Writing - review & editing
Search for more papers by this authorCorresponding Author
Na Duan
School of Electrical Engineering & Automation, Jiangsu Normal University, Xuzhou, China
Correspondence
Na Duan, School of Electrical Engineering & Automation, Jiangsu Normal University, Xuzhou 221116, China.
Email: [email protected]
Contribution: Formal analysis, Funding acquisition, Project administration, Supervision, Writing - review & editing
Search for more papers by this authorHuifang Min
School of Automation, Nanjing University of Science and Technology, Nanjing, China
Contribution: Formal analysis, Writing - review & editing
Search for more papers by this authorShuo Li,
Na Duan,
Huifang Min,
Shuo Li
School of Electrical Engineering & Automation, Jiangsu Normal University, Xuzhou, China
Contribution: Formal analysis, Software, Writing - original draft, Writing - review & editing
Search for more papers by this authorCorresponding Author
Na Duan
School of Electrical Engineering & Automation, Jiangsu Normal University, Xuzhou, China
Correspondence
Na Duan, School of Electrical Engineering & Automation, Jiangsu Normal University, Xuzhou 221116, China.
Email: [email protected]
Contribution: Formal analysis, Funding acquisition, Project administration, Supervision, Writing - review & editing
Search for more papers by this authorHuifang Min
School of Automation, Nanjing University of Science and Technology, Nanjing, China
Contribution: Formal analysis, Writing - review & editing
Search for more papers by this authorAbstract
This paper aims to solve the tracking control problem for quadrotor unmanned aerial vehicle (UAV) with input delay and disturbances. An appropriate auxiliary system is applied to compensate the effect of the input delay. The nonlinear disturbance observer is utilized to restrain the influence of external disturbances. Then, the controller is designed by backstepping method to ensure the trajectory tracking and steady flight of the quadrotor UAV. We also present simulation and experimental reification results to demonstrate the tracking effect and stable flight of the UAV.
CONFLICT OF INTEREST STATEMENT
The authors declare no potential conflict of interests.
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