Moeini, Amir (U Alberta), Rafique, Muhammad Awais (U Alberta), Xue, Zhijun (Huazhong University of Science & Technology), Lynch, Alan (U Alberta), Zhao, Qing (Univ. of Alberta)

Disturbance Observer-Based Integral Backstepping Control for UAVs

Scheduled for presentation during the Regular Session "Path Planning III" (WeC2), Wednesday, September 2, 2020, 17:20−17:40, Kozani

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on April 24, 2024

Abstract

In this paper a disturbance observer-based integral backstepping nonlinear motion control for a multirotor unmanned aerial vehicle (UAV) is proposed. The closed-loop is proven globally exponentially stable for the complete UAV dynamics and constant disturbances. Software-in-the-loop (SITL) simulation is used to evaluate the performance of the proposed control on the open-source PX4 autopilot. The simulation results demonstrate the proposed method's robustness and steady state error performance.