Improved Back-Stepping Control for Nonlinear Small UAV Systems With Transient Prescribed Performance Design

IEEE Access

Jiaqi Gu¹  Jieqing Chen¹  Ruisheng Sun¹ 

[1] School of Energy and Power Engineering, Nanjing University of Science and Technology, Nanjing, China;

关键词: Back-stepping control;    nonlinear control;    prescribed performance function;    robust control;    tracking differentiator;   

DOI  :  10.1109/ACCESS.2021.3111619

来源: DOAJ

【 摘 要 】

This paper proposes an improved back-stepping control approach and its application to small nonlinear UAV control systems with uncertainties such as external disturbance. Unlike traditional back-stepping control methods, the idea of prescribed performance function (PPF) is incorporated into the control design, such that both the transient and steady-state control performance can be strictly guaranteed. Moreover, we design a novel tracking differentiator to avoid the “differential expansion” problem well caused by the calculation of derivative. Significantly, the function approximators (e.g. neural networks) that are widely used to address the unknown nonlinearities in the nonlinear control designs are not needed. Finally, the numerical simulation verifies the convergence and robustness of the system, and the results show that the control strategy can obtain better transient and steady-state performance.

【 授权许可】

Unknown