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This paper presents a nonlinear backstepping control scheme for quadrotor with BP neural network based thrust model. The thrust in quadrotor system is difficult to calculate or measure, so the paper build a BP based thrust model to approximate the mapping between thrust with factors of altitude, voltage and the high level time of PWM. Through the model, the control input for each rotor can be calculate...
For nonlinear systems affine in the control, controller design is considered with constraints on state variables. A change of variables is proposed to establish the diffeomorphism between the constrained domain in the original coordinates and the whole state space in the new coordinates. The introduction of the diffeomorphism eliminates the constraints on state variables for the transformed systems,...
A decentralized backstepping approach, combined with sliding mode control, is used to design BTT (bank-to-turn) missile autopilot. The proposed scheme converted the nonlinear mathematical model of BTT missile into three nonlinear interconnected subsystems based on the idea of decentralized control. Each subsystem is represented as the inner loop and the outer loop, such that sliding model controllers...
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