Attitude Optimal Backstepping Controller Based Quaternion for a UAV
Joint Authors
Djamel, Kaddouri
Abdellah, Mokhtari
Benallegue, Abdelaziz
Source
Mathematical Problems in Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-03-03
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
A hierarchical controller design based on nonlinear H∞ theory and backstepping technique is developed for a nonlinear and coupled dynamic attitude system using conventional quaternion based method.
The derived controller combines the attractive features of H∞ optimal controller and the advantages of the backstepping technique leading to a control law which avoids winding phenomena.
Performance issues of the controller are illustrated in a simulation study made for a four-rotor vertical take-off and landing (VTOL) aerial robot prototype known as the quadrotor aircraft.
American Psychological Association (APA)
Djamel, Kaddouri& Abdellah, Mokhtari& Benallegue, Abdelaziz. 2016. Attitude Optimal Backstepping Controller Based Quaternion for a UAV. Mathematical Problems in Engineering،Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1112736
Modern Language Association (MLA)
Djamel, Kaddouri…[et al.]. Attitude Optimal Backstepping Controller Based Quaternion for a UAV. Mathematical Problems in Engineering No. 2016 (2016), pp.1-11.
https://search.emarefa.net/detail/BIM-1112736
American Medical Association (AMA)
Djamel, Kaddouri& Abdellah, Mokhtari& Benallegue, Abdelaziz. Attitude Optimal Backstepping Controller Based Quaternion for a UAV. Mathematical Problems in Engineering. 2016. Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1112736
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1112736