Adaptive Nonlinear Backstepping Control for Trajectory Follower Slung Load of Quadrotor

Ahmed Alshakhs; Khalid Bin Gaufan; Sami El Ferik

doi:10.1109/SSD58187.2023.10411244

Adaptive Nonlinear Backstepping Control for Trajectory Follower Slung Load of Quadrotor

Ahmed Alshakhs^*
, Khalid Bin Gaufan
, Sami El Ferik

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

This paper considers the non-linear system of quadrotor with slung load. The addressed problem is the control of the slung load trajectory. A controller designed with backstepping approach is proposed. Addressing the problem of unknown slung load mass, an adaptive part is introduced to compensate for it. Simulation shows valid results of the proposed.

Original language	English
Title of host publication	2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	681-688
Number of pages	8
ISBN (Electronic)	9798350332568
DOIs	https://doi.org/10.1109/SSD58187.2023.10411244
State	Published - 2023
Event	20th International Multi-Conference on Systems, Signals and Devices, SSD 2023 - Mahdia, Tunisia Duration: 20 Feb 2023 → 23 Feb 2023

Publication series

Name	2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023

Conference

Conference	20th International Multi-Conference on Systems, Signals and Devices, SSD 2023
Country/Territory	Tunisia
City	Mahdia
Period	20/02/23 → 23/02/23

Bibliographical note

Publisher Copyright:
© 2023 IEEE.

Keywords

Slung Load

ASJC Scopus subject areas

Artificial Intelligence
Computer Science Applications
Computer Networks and Communications
Information Systems
Signal Processing
Health Informatics
Instrumentation

Access to Document

10.1109/SSD58187.2023.10411244

Cite this

Alshakhs, A., Gaufan, K. B., & El Ferik, S. (2023). Adaptive Nonlinear Backstepping Control for Trajectory Follower Slung Load of Quadrotor. In 2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023 (pp. 681-688). (2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSD58187.2023.10411244

Alshakhs, Ahmed ; Gaufan, Khalid Bin ; El Ferik, Sami. / Adaptive Nonlinear Backstepping Control for Trajectory Follower Slung Load of Quadrotor. 2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023. Institute of Electrical and Electronics Engineers Inc., 2023. pp. 681-688 (2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023).

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title = "Adaptive Nonlinear Backstepping Control for Trajectory Follower Slung Load of Quadrotor",

abstract = "This paper considers the non-linear system of quadrotor with slung load. The addressed problem is the control of the slung load trajectory. A controller designed with backstepping approach is proposed. Addressing the problem of unknown slung load mass, an adaptive part is introduced to compensate for it. Simulation shows valid results of the proposed.",

keywords = "Slung Load",

author = "Ahmed Alshakhs and Gaufan, \{Khalid Bin\} and \{El Ferik\}, Sami",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023 ; Conference date: 20-02-2023 Through 23-02-2023",

year = "2023",

doi = "10.1109/SSD58187.2023.10411244",

language = "English",

series = "2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023",

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Alshakhs, A, Gaufan, KB & El Ferik, S 2023, Adaptive Nonlinear Backstepping Control for Trajectory Follower Slung Load of Quadrotor. in 2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023. 2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023, Institute of Electrical and Electronics Engineers Inc., pp. 681-688, 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023, Mahdia, Tunisia, 20/02/23. https://doi.org/10.1109/SSD58187.2023.10411244

Adaptive Nonlinear Backstepping Control for Trajectory Follower Slung Load of Quadrotor. / Alshakhs, Ahmed; Gaufan, Khalid Bin; El Ferik, Sami.
2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 681-688 (2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - This paper considers the non-linear system of quadrotor with slung load. The addressed problem is the control of the slung load trajectory. A controller designed with backstepping approach is proposed. Addressing the problem of unknown slung load mass, an adaptive part is introduced to compensate for it. Simulation shows valid results of the proposed.

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Y2 - 20 February 2023 through 23 February 2023

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Alshakhs A, Gaufan KB, El Ferik S. Adaptive Nonlinear Backstepping Control for Trajectory Follower Slung Load of Quadrotor. In 2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023. Institute of Electrical and Electronics Engineers Inc. 2023. p. 681-688. (2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023). doi: 10.1109/SSD58187.2023.10411244

Adaptive Nonlinear Backstepping Control for Trajectory Follower Slung Load of Quadrotor

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this