Attitude Optimal Backstepping Controller Based Quaternion for a UAV

Article English OPEN
Djamel, Kaddouri ; Abdellah, Mokhtari ; Benallegue, Abdelaziz (2016)
  • Publisher: Hindawi Publishing Corporation
  • Journal: Mathematical Problems in Engineering (issn: 1024-123X, eissn: 1563-5147)
  • Related identifiers: doi: 10.1155/2016/8573235
  • Subject: TA1-2040 | Mathematics | Engineering (General). Civil engineering (General) | QA1-939 | Article Subject

A hierarchical controller design based on nonlinear H∞ theory and backstepping technique is developed for a nonlinear and coupled dynamic attitude system using conventional quaternion based method. The derived controller combines the attractive features of H∞ optimal controller and the advantages of the backstepping technique leading to a control law which avoids winding phenomena. Performance issues of the controller are illustrated in a simulation study made for a four-rotor vertical take-off and landing (VTOL) aerial robot prototype known as the quadrotor aircraft.
  • References (18)
    18 references, page 1 of 2

    Barrera, A.. Advances in Robot Navigation. 2011

    Fortuna, L., Muscato, G., Xibilia, M. G.. Attitude feedforward neural controller in quaternion algebra. Intelligent Automation and Soft Computing. 1999; 5 (3): 191-199

    Tayebi, A., McGilvray, S.. Attitude stabilization of a four-rotor aerial robot. : 1216-1221

    Wang, X., Chen, Y., Lu, G., Zhong, Y.. Robust attitude tracking control of small-scale unmanned helicopter. International Journal of Systems Science. 2015; 46 (8): 1472-1485

    Zhao, S., Dong, W., Farrell, J. A.. Quaternion-based trajectory tracking control of VTOL-UAVs using command filtered backstepping. : 1018-1023

    Fresk, E., Nikolakopoulos, G.. Full quaternion based attitude control for a quadrotor,.

    Honglei, A., Jie, L., Jian, W., Jianwen, W., Hongxu, M.. Backstepping-based inverse optimal attitude control of quadrotor: regular paper. International Journal of Advanced Robotic Systems. 2013; 10, article 223

    Likun, H., Qingchao, W.. Direct Lyapunov-based control law design for spacecraft attitude maneuvers. Progress in Natural Science. 2006; 16 (11): 1188-1192

    Sun, H., Yang, Z., Meng, B.. Tracking control of a class of non-linear systems with applications to cruise control of air-breathing hypersonic vehicles. International Journal of Control. 2015; 88 (5): 885-896

    Li, S., Ding, S., Li, Q.. Global set stabilization of the spacecraft attitude control problem based on quaternion. International Journal of Robust and Nonlinear Control. 2010; 20 (1): 84-105

  • Metrics
    No metrics available
Share - Bookmark