@inproceedings{e68a4b8a86f341eaa4f4037817e210b8,
title = "Robust backstepping tracking control of uncertain MIMO nonlinear systems with application to quadrotor UAVs",
abstract = "In this paper, the backstepping technique and the signal compensation method are used to deal with the robust tracking control problem for a class of uncertain multi-input multi-output (MIMO) nonlinear systems with nonlinear uncertainties, external disturbances and internal couplings. The semiglobal robust stability and robust tracking property of the closed-loop system are proved through Lyapunov stability analysis. The tracking errors are restrained as small as desired with expected convergence rate, and the 'calculation explosion' in the backstepping control law is avoided. Experimental results based on the self-developed quadrotor UAV platform verify the effectiveness of the proposed tracking control scheme.",
keywords = "Backstepping, Nonlinear uncertainty, Quadrotor UAV, Robust tracking control, Signal compensation",
author = "Yao Yu and Yukun Guo and Xun Pan and Changyin Sun",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics ; Conference date: 08-08-2015 Through 10-08-2015",
year = "2015",
month = sep,
day = "28",
doi = "10.1109/ICInfA.2015.7279776",
language = "英语",
series = "2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2868--2873",
booktitle = "2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics",
}