Attitude Optimal Backstepping Controller Based Quaternion for a UAV Laboratoire

Robotique industrielle et automatisation   Oran   34 vues Référence : 1685

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Localité : Oran

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.

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