Attitude Stabilization Control of a Quadrotor UAV by Using Backstepping Approach | Zendy

Xing Huo | Zendy; Mingyi Huo | Zendy; Hamid Reza Karimi | Zendy

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Attitude Stabilization Control of a Quadrotor UAV by Using Backstepping Approach

Author(s) -

Xing Huo,

Mingyi Huo,

Hamid Reza Karimi

Publication year - 2014

Publication title -

mathematical problems in engineering

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.262

H-Index - 62

eISSN - 1026-7077

pISSN - 1024-123X

DOI - 10.1155/2014/749803

Subject(s) - backstepping , control theory (sociology) , attitude control , quaternion , euler angles , lyapunov function , nonlinear system , controller (irrigation) , quadcopter , rotor (electric) , lyapunov stability , control engineering , bounded function , computer science , engineering , control (management) , mathematics , adaptive control , physics , aerospace engineering , mechanical engineering , mathematical analysis , agronomy , geometry , artificial intelligence , quantum mechanics , biology

The modeling and attitude stabilization control problems of a four-rotor vertical takeoff and landing unmanned air vehicle (UAV) known as the quadrotor are investigated. The quadrotor's attitude is represented by the unit quaternion rather than Euler angles to avoid singularity problem. Taking dynamical behavior of motors into consideration and ignoring aerodynamic effect, a nonlinear controller is developed to stabilize the attitude. The control design is accomplished by using backstepping control technique. The proposed control law is based on the compensation for the Coriolis and gyroscope torques. Applying Lyapunov stability analysis proves that the closed-loop attitude system is asymptotic stable. Moreover, the controller can guarantee that all the states of the system are uniformly ultimately bounded in the presence of external disturbance torque. The effectiveness of the proposed control approach is analytically authenticated and also validated via simulation study. © 2014 Xing Huo et al

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