Trajectory tracking control for a quad-rotor UAV based on integrator backstepping

One nonlinear dynamic model for a quad-rotor has been constructed and methods of backstepping have been employed in deriving the controllers for trajectory problem of quad-rotors in this paper. Difficulties due to the under-actuated characters of the quad-rotor have been successfully resolved through decoupling the position control system and the attitude control system in the framework of Backstepping. All states of the quad-rotor have been controlled to converge to desired values in the end. Numerical simulations using Matlab have illustrated the effectiveness of the controllers proposed in this paper.

[1]  S. Shankar Sastry,et al.  LANDING AN UNMANNED AIR VEHICLE: VISION BASED MOTION ESTIMATION AND NONLINEAR CONTROL , 1999 .

[2]  Roland Siegwart,et al.  Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[3]  Abdelaziz Benallegue,et al.  Polynomial Linear Quadratic Gaussian and Sliding Mode Observer for a Quadrotor Unmanned Aerial Vehicle , 2005, J. Robotics Mechatronics.

[4]  Rogelio Lozano,et al.  Real-time stabilization and tracking of a four-rotor mini rotorcraft , 2004, IEEE Transactions on Control Systems Technology.

[5]  Camillo J. Taylor,et al.  Quadrotor control using dual camera visual feedback , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[6]  Nacer K. M'Sirdi,et al.  Feedback linearization and linear observer for a quadrotor unmanned aerial vehicle , 2006, Adv. Robotics.

[7]  P.J. Alsina,et al.  Dynamic Modelling of a Quadrotor Aerial Vehicle with Nonlinear Inputs , 2008, 2008 IEEE Latin American Robotic Symposium.

[8]  Abdelaziz Benallegue,et al.  Backstepping Control for a Quadrotor Helicopter , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[9]  L. Fridman,et al.  Feedback linearization and high order sliding mode observer for a quadrotor UAV , 2006, International Workshop on Variable Structure Systems, 2006. VSS'06..

[10]  M.Y. Amir,et al.  Modeling of Quadrotor Helicopter Dynamics , 2008, 2008 International Conference on Smart Manufacturing Application.

[11]  M. Vukobratovic,et al.  Applied Dynamics of Manipulation Robots , 1989 .

[12]  Agus Budiyono.  First Principle Approach to Modeling of Primitive Quad Rotor , 2009 .

[13]  Holger Voos.  Nonlinear state-dependent Riccati equation control of a quadrotor UAV , 2006, 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control.