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, timed trajectory tracking and haptic interaction over the Internet, while also providing a complete stability (or collision avoidance) analysis. Experiments using a real quadrotor and lossy communication (for the teleoperation) are also performed to illustrate the theory. © 2014 Elsevier B.V. All rights reserved.