Backstepping-Based Inverse Optimal Attitude Control of Quadrotor

نویسندگان
چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Adaptive Sliding Backstepping Control of Quadrotor UAV Attitude

This paper proposes an adaptive sliding backstepping control law for quadcopter attitude control. By employing adaptive elements in the sliding mode control formulation the proposed control law avoids a priori knowledge of the upper bounds on the uncertainty. The controller we propose can be used for systems that are in strict feedback form with matched uncertainties. Numerical simulations show...

متن کامل

Passivity-based adaptive backstepping control of quadrotor-type UAVs

We propose a novel unified passivity-based adaptive backstepping control framework for ‘‘mixed’’ quadrotor-type unmanned aerial vehicles (UAVs), which consists of the translation dynamics with thrust force input λ ∈ R and the attitude kinematics with the angular velocity input w ∈ R3 evolving on SE(3). We also show how our proposed unified framework can be used for velocity field following, tim...

متن کامل

Inverse Optimal Design for Position Control of a Quadrotor

In this paper, we propose an inverse optimal design method for the position control of a quadrotor. First, we derive the dynamics of a quadrotor using the Newton-Euler formulation. Second, we present the state transformation technique to derive the position dynamics from the kinematic and dynamic models of a quadrotor. Then, we present the nonlinear inverse optimal position control of a quadrot...

متن کامل

Quadrotor Obstacle Avoidance Based on Integral Backstepping

Corresponding Author: Kil To Chong Department of Electronics Engineering, Chonbuk National University, Jeonju, South Korea Email: [email protected] Abstract: This paper addressed obstacle avoidance problem of a quadrotor in outdoor environment. Path planning was finished by employing classical Dijkstra algorithm and the controller of the quadrotor adopted integral backstepping method. In orde...

متن کامل

Design of Attitude Control System for Quadrotor

Quadrotor is a widely used aircraft now and be with the nonlinear, uncertain characteristics. Because of requirement on high attitude stability the attitude control system of quadrotor needs to be well designed. Firstly the movement pattern and working principle of the quadrotor are analyzed. Then the hardware schematic diagram of attitude control system is designed which includes several senso...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: International Journal of Advanced Robotic Systems

سال: 2013

ISSN: 1729-8814,1729-8814

DOI: 10.5772/56337