LESO Based Backstepping for Quadrotor Trace Tracking with Tracking Error Constraints

摘要

The trace tracking control for quadrotor aircraft with system uncertainties and constraints for output tracking error is addressed. Uncertainties in quadrotor system is estimated by utilizing linear extended state observer. In addition, the backstepping method using barrier Lyapunov function is designed to compensate for quadrotor uncertainties while satisfying output tracking error constraints. In this way, the quadrotor tracking performance is improved. The closed-loop stability of the quadrotor under the proposed observer-controller structure is proven through Lyapunov theory. Efficiency of the proposed method is demonstrated with a quadrotor model subjected to parameter variation and external disturbance.