ドローンの3次元軌道制御におけるバックステッピング法の適用とその性能評価

抄録

This paper addresses drone controller design with 3D target trajectory and presents a backstepping-based controller taking into consideration the integral of tracking error. Performance evaluation is performed in situational and experimental environments, and the advantage of the proposed scheme is illustrated in the comparison with the conventional backstepping and the Proportional-Integral-Differential control. The experiment results show that the proposed scheme exploiting the integral of tracking error can reduce steady-state error. Furthermore, they show that introducing a reference model experimentally improves the tracking performance for a given target trajectory.