Attitude Optimal Backstepping Controller Based Quaternion for a UAV
- Publisher: Hindawi Publishing Corporation
Mathematical Problems in Engineering
(issn: 1024-123X, eissn: 1563-5147)
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.