Open AccessBackstepping-Based Inverse Optimal Attitude Control of Quadrotor
Author(s) -
Honglei An,
Jie Li,
Jian Wang,
Jianwen Wang,
Hongxu Ma
Publication year - 2013
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/56337
Subject(s) - backstepping , control theory (sociology) , quaternion , computer science , inverse , hamilton–jacobi–bellman equation , lyapunov function , controller (irrigation) , convergence (economics) , torque , inverse dynamics , representation (politics) , optimal control , mathematics , mathematical optimization , control (management) , adaptive control , nonlinear system , artificial intelligence , law , economic growth , biology , geometry , kinematics , classical mechanics , quantum mechanics , political science , agronomy , thermodynamics , physics , politics , economics
Input saturation must be taken into account for applying rapid reorientation in the large angle manoeuvre of a quadrotor. In this paper, a backstepping-based inverse optimal attitude controller (BIOAC) is derived which has the property of a maximum convergence rate in the sense of a control Lyapunov function (CLF) under input torque limitation. In the controller, a backstepping technique is used for handling the complexity introducing by the unit quaternion representation of the attitude of a quadrotor with four parameters. Moreover, the inverse optimal approach is employed to circumvent the difficulty of solving the Hamilton-Jacobi-Bellman (HJB) equation. The performance of BIOAC is compared with a PD controller in which the input torque limitation is not considered under the same unit quaternion representation using numerical simulation while the results show that BIOAC gains faster convergence with less control effort. Next, BIOAC is realized on a test bed and the effectiveness of the control law is verified by experimental studies