Jasim, Wesam and Gu, Dongbing (2015) Integral backstepping controller for quadrotor path tracking. In: 2015 International Conference on Advanced Robotics (ICAR), 2015-07-27 - 2015-07-31.
Jasim, Wesam and Gu, Dongbing (2015) Integral backstepping controller for quadrotor path tracking. In: 2015 International Conference on Advanced Robotics (ICAR), 2015-07-27 - 2015-07-31.
Jasim, Wesam and Gu, Dongbing (2015) Integral backstepping controller for quadrotor path tracking. In: 2015 International Conference on Advanced Robotics (ICAR), 2015-07-27 - 2015-07-31.
Abstract
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) |
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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 Faculty of Science and Health > Computer Science and Electronic Engineering, School of |
SWORD Depositor: | Unnamed user with email elements@essex.ac.uk |
Depositing User: | Unnamed user with email elements@essex.ac.uk |
Date Deposited: | 15 Sep 2015 08:35 |
Last Modified: | 05 Dec 2024 21:44 |
URI: | http://repository.essex.ac.uk/id/eprint/14895 |