عنوان مقاله [English]
نویسندگان [English]چکیده [English]
In this paper, a new enhanced backstepping controller is presented for control of quadrotors. Dynamic equations of the robot are nonlinear. Therefore, a convenience controller is required to stabilize the robot on desired motion. Here, backstepping method is used for control of the robot. In the conventional backstepping method, nonlinear terms of dynamic equations appear in the control law. Therefore, control law depends on accuracy of the nonlinear terms in the dynamic equations. In this research, nonlinear terms in the backstepping controller are estimated by function approximate method and adaptive laws based on projection operator. Therefore, in the proposed controller, the nonlinear terms of the dynamic model is not required to know accurately. This is the main novelty of the paper. The stability analysis is performed by Lyapanov theory. In order to validation of the proposed approach, several numerical simulation results are presented. Simulation results show the proposed controller can force the quadrotors in neighborhood of the desired motion in presence of dynamic model uncertainties and external disturbances.
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