Disturbance observer based backstepping controller for a quadcopter.
Vibhu Kumar TripathiLaxmidhar BeheraNishchal K. VermaPublished in: IECON (2016)
Keyphrases
- control law
- control strategy
- closed loop
- external disturbances
- nonlinear systems
- control system
- control scheme
- lyapunov stability theory
- controller design
- control algorithm
- adaptive control
- control method
- adaptive fuzzy
- feedback control
- control theory
- pid controller
- control architecture
- lyapunov function
- neural network
- disturbance rejection
- operating conditions
- fuzzy controller
- control strategies
- optimal control
- adaptive neural
- sliding mode control
- control parameters
- motion planning
- real time
- autonomous robots
- mathematical model
- matlab simulation
- dynamic environments
- neural network controller
- networked control systems
- tracking error
- convergence rate
- robotic manipulator
- degrees of freedom
- fuzzy logic controller