Robust Backstepping Control of a Quadrotor Unmanned Aerial Vehicle under Colored Noises
作者机构：Electrical and Electronic Engineering DepartmentAtilim UniversityAnkara06830Turkey
出 版 物：《Computers, Materials & Continua》 (计算机、材料和连续体（英文）)
年 卷 期：2025年第82卷第1期
页 面：777-798页
核心收录：
学科分类：08[工学] 081105[工学-导航、制导与控制] 082503[工学-航空宇航制造工程] 0835[工学-软件工程] 0802[工学-机械工程] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程] 080201[工学-机械制造及其自动化]
基 金：The author would like to thank the editors and reviewers for their valuable work
主 题：Backstepping control colored noises Gaussian noise Lyapunov stability quadrotor robustness PID control
摘 要：Advances in software and hardware technologies have facilitated the production of quadrotor unmanned aerial vehicles(UAVs).Nowadays,people actively use quadrotor UAVs in essential missions such as search and rescue,counter-terrorism,firefighting,surveillance,and cargo *** performing these tasks,quadrotors must operate in noisy ***,a robust controller design that can control the altitude and attitude of the quadrotor in noisy environments is of great *** researchers have focused only on white Gaussian noise in their studies,whereas researchers need to consider the effects of all colored noises during the operation of the *** study aims to design a robust controller that is resistant to all colored ***,a nonlinear quadrotormodel was created with ***,a backstepping controller resistant to colored noises was *** backstepping controller was tested under Gaussian white,pink,brown,blue,and purple *** and Lyapunov-based controller designswere also carried out,and their time responses(rise time,overshoot,settling time)were compared with those of the backstepping *** the simulations,time was in seconds,altitude was in meters,and roll,pitch,and yaw references were in *** and settling time values were in seconds,and overshoot value was in *** the obtained values are examined,simulations prove that the proposed backstepping controller has the least overshoot and the shortest settling time under all noise types.
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