A novel trajectory tracking, hovering, and yaw motion control is presented for fully nonlinear model of quadrotors based on integral backstepping. The control law is developed by relating the second time derivatives of linear accelerations to thrust force and roll and pitch moments. A separate control law is then derived for yaw motion. The controller is shown to be asymptotically convergent in presence of modeling uncertainties and constant disturbances. Several simulations and experiments are performed with a quadrotor to verify the controller performance.
- Dynamic Systems and Control Division
Robust Integral Backstepping Control of Quadrotors
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Poultney, A, Gong, P, & Ashrafiuon, H. "Robust Integral Backstepping Control of Quadrotors." Proceedings of the ASME 2017 Dynamic Systems and Control Conference. Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications. Tysons, Virginia, USA. October 11–13, 2017. V002T12A001. ASME. https://doi.org/10.1115/DSCC2017-5014
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