Attitude Optimal Backstepping Controller Based Quaternion for a UAV

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.

[1]  J. Wen,et al.  Robust attitude stabilization of spacecraft using nonlinear quaternion feedback , 1995, IEEE Trans. Autom. Control..

[2]  Jay A. Farrell,et al.  Quaternion-based trajectory tracking control of VTOL-UAVs using command filtered backstepping , 2013, 2013 American Control Conference.

[3]  J. Wen,et al.  The attitude control problem , 1991 .

[4]  Shihua Li,et al.  Global set stabilization of the spacecraft attitude control problem based on quaternion , 2010 .

[5]  Yisheng Zhong,et al.  Robust attitude tracking control of small-scale unmanned helicopter , 2015, Int. J. Syst. Sci..

[6]  Emil Fresk,et al.  Full quaternion based attitude control for a quadrotor , 2013, 2013 European Control Conference (ECC).

[7]  Giovanni Muscato,et al.  Attitude Feedforward Neural Controller in Quaternion Algebra , 1999, Intell. Autom. Soft Comput..

[8]  P. Hughes.  Spacecraft Attitude Dynamics , 1986 .

[9]  M. Shuster.  A survey of attitude representation , 1993 .

[10]  Yonmook Park,et al.  Robust and optimal attitude stabilization of spacecraft with external disturbances , 2005 .

[11]  Alejandra Barrera.  Advances in Robot Navigation , 2011 .

[12]  A. Tayebi,et al.  Attitude stabilization of a four-rotor aerial robot , 2004, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).

[13]  Bin Meng,et al.  Tracking control of a class of non-linear systems with applications to cruise control of air-breathing hypersonic vehicles , 2014, Int. J. Control.

[14]  Wang Jian,et al.  Backstepping-Based Inverse Optimal Attitude Control of Quadrotor , 2013 .

[15]  Hu Likun,et al.  Direct Lyapunov–based control law design for spacecraft attitude maneuvers , 2006 .

[16]  G.V. Raffo,et al.  Backstepping/nonlinear H∞ control for path tracking of a quadrotor unmanned aerial vehicle , 2008, 2008 American Control Conference.

[17]  Abdelaziz Benallegue,et al.  Nonlinear H ∞ control of a Quadrotor (UAV), using high order sliding mode disturbance estimator , 2012, Int. J. Control.