Attitude Stabilization Control of a Quadrotor UAV by Using Backstepping Approach
Joint Authors
Huo, Mingyi
Huo, Xing
Karimi, Hamid Reza
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-02-19
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
The modeling and attitude stabilization control problems of a four-rotor vertical takeoff and landing unmanned air vehicle (UAV) known as the quadrotor are investigated.
The quadrotor’s attitude is represented by the unit quaternion rather than Euler angles to avoid singularity problem.
Taking dynamical behavior of motors into consideration and ignoring aerodynamic effect, a nonlinear controller is developed to stabilize the attitude.
The control design is accomplished by using backstepping control technique.
The proposed control law is based on the compensation for the Coriolis and gyroscope torques.
Applying Lyapunov stability analysis proves that the closed-loop attitude system is asymptotic stable.
Moreover, the controller can guarantee that all the states of the system are uniformly ultimately bounded in the presence of external disturbance torque.
The effectiveness of the proposed control approach is analytically authenticated and also validated via simulation study.
American Psychological Association (APA)
Huo, Xing& Huo, Mingyi& Karimi, Hamid Reza. 2014. Attitude Stabilization Control of a Quadrotor UAV by Using Backstepping Approach. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-495715
Modern Language Association (MLA)
Huo, Xing…[et al.]. Attitude Stabilization Control of a Quadrotor UAV by Using Backstepping Approach. Mathematical Problems in Engineering No. 2014 (2014), pp.1-9.
https://search.emarefa.net/detail/BIM-495715
American Medical Association (AMA)
Huo, Xing& Huo, Mingyi& Karimi, Hamid Reza. Attitude Stabilization Control of a Quadrotor UAV by Using Backstepping Approach. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-495715
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-495715