Attitude Optimal Backstepping Controller Based Quaternion for a UAV

Kaddouri Djamel, Mokhtari Abdellah and Abdelaziz Benallegue

Mathematical Problems in Engineering, 2016, vol. 2016, 1-11

Abstract:

A hierarchical controller design based on nonlinear 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 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.

Date: 2016
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:8573235

DOI: 10.1155/2016/8573235

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