Stability Analysis of Finite-time Trajectory Tracking for Quadrotor Unmanned Aerial Vehicles Based on Backstepping Method

DOI: https://doi.org/10.62517/jike.202604111

Author(s)

Kangqi Zhai

Affiliation(s)

Wuhan Gangcheng No. 4 Middle School, Wuhan, China *Corresponding Author

Abstract

Quadcopter drones have been widely applied in fields such as aerial photography, logistics, and environmental monitoring due to their compact structure and strong maneuverability. However, its nonlinear and strongly coupled dynamic characteristics pose challenges to trajectory tracking control. The backstep method is a nonlinear control approach based on the Lyapunov stability theory, which achieves system stability by recursively designing virtual control quantities. This paper focuses on the application of the backstep method in the finite-time trajectory tracking of quadrotor unmanned aerial vehicles (UAVs), and conducts an analysis from four dimensions: theoretical framework, stability conditions, robustness optimization, and future development directions, aiming to provide theoretical support for improving the trajectory tracking accuracy and stability of UAVs in complex environments.

Keywords

Quadcopter Unmanned Aerial Vehicle; Reverse Step Method; Finite-time Trajectory Tracking; Stability Analysis; Nonlinear Control

References

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