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Integral backstepping controller for quadrotor path tracking

Jasim, W and Gu, D (2015) Integral backstepping controller for quadrotor path tracking. In: UNSPECIFIED, ? - ?.

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An integral backstepping control algorithm is presented for the path tracking problem of a quadrotor in this work. The dynamical model of a quadrotor is represented based on unit quaternion representation and includes some modelled aerodynamical effects as a nonlinear part. The integral backstepping controller is designed for translational part to track the desired trajectory. Stability analysis is achieved via a suitable Lyapunov function. The external disturbance and model parameters uncertainty are considered in the simulation tests to justify the proposed controller stability. Simulation results are compared with a standard backstepping controller results.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Published proceedings: Proceedings of the 17th International Conference on Advanced Robotics, ICAR 2015
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Jim Jamieson
Date Deposited: 15 Sep 2015 08:35
Last Modified: 30 Mar 2021 23:15

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