Nonlinear Prediction-Based Smooth-Bounded Backstepping Control for a Quadrotor with Input Delay

Resumen: In this paper, a trajectory-tracking prediction-based control strategy is presented for a quadrotor with input time-delays, using smooth-bounded error-correction actions. This is, a smooth-bounded backstepping-based control design is feed with prediction-based estimated states obtained using a full-state predictor; this scheme uses a quadrotor model reduced by an inner control loop also presented. The prediction-based control scheme is analyzed for stability and validated by numerical simulation results.

¿Cómo citar?

M.A. Vallejo-Alarcon, M. Velasco-Villa & R. Castro-Linares. Nonlinear Prediction-Based Smooth-Bounded Backstepping Control for a Quadrotor with Input Delay. Memorias del Congreso Nacional de Control Automático, pp. 665-670, 2019.

Palabras clave

Control de Sistemas No Lineales, Control Basado en pasividad, Robótica y Mecatrónica

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