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Title: Online optimisation-based backstepping control design with application to quadrotor
Authors: Lu, Hao
Liu, Cunjia
Coombes, Matthew
Guo, Lei
Chen, Wen-Hua
Issue Date: 2017
Publisher: © Institution of Engineering and Technology
Citation: LU, H. ... et al., 2017. Online optimisation-based backstepping control design with application to quadrotor. IET Control Theory and Applications, 10(14), pp. 1601–1611.
Abstract: In backstepping implementation, the derivatives of virtual control signals are required at each step. This study provides a novel way to solve this problem by combining online optimisation with backstepping design in an outer and inner loop manner. The properties of differential flatness and the B-spline polynomial function are exploited to transform the optimal control problem into a computationally efficient form. The optimisation process generates not only the optimised states but also their finite order derivatives which can be used to analytically calculate the derivatives of virtual control signal required in backstepping design. In addition, the online optimisation repeatedly performed in a receding horizon fashion can also realise local motion planning for obstacle avoidance. The stability of the receding horizon control scheme is analysed via Lyapunov method which is guaranteed by adding a parametrised terminal condition in the online optimisation. Numerical simulations and flight experiments of a quadrotor unmanned air vehicle are given to demonstrate the effectiveness of the proposed composite control method.
Description: This paper is a preprint of a paper accepted by IET Control Theory and Applications and is subject to Institution of Engineering and Technology Copyright. The final version is available : http://dx.doi.org/10.1049/iet-cta.2015.0976.
Sponsor: This work was supported by National Basic Research Program of China (2012CB720003), National Natural Science Foundation of China (61127007, 61121003, and 61320106010). Hao Lu would like to thank the Chinese Scholarship Council for supporting his study in the United Kingdom.
Version: Accepted for publication
DOI: 10.1049/iet-cta.2015.0976
URI: https://dspace.lboro.ac.uk/2134/21809
Publisher Link: http://dx.doi.org/10.1049/iet-cta.2015.0976
ISSN: 1751-8644
Appears in Collections:Published Articles (Aeronautical and Automotive Engineering)

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