Title :
Backstepping based nested multi-loop control laws for a quadrotor
Author :
De Vries, Erik ; Subbarao, Kamesh
Author_Institution :
Dept. of Aerosp. Eng., Tech. Univ. of Delft, Delft, Netherlands
Abstract :
Quadrotors are suitable testbeds for several point to point hover based surveillance and observation tasks. As such, the hover mode is a very important mode of operation for a quadrotor platform. This paper describes the design of a hover mode controller using a backstepping based multi-loop design for a linearized quadrotor dynamics. This controller is then tested using both the linear and a full nonlinear simulation model of the quadrotor.
Keywords :
helicopters; linear systems; motion control; nonlinear control systems; backstepping; controller design; hover mode controller; linearized quadrotor dynamics; nested multiloop control law; nonlinear simulation model; observation task; point-to-point hover based surveillance; Backstepping; Equations; Force; Mathematical model; Rotors; Stability criteria; Backstepping; Lyapunov stability; Multi-Loop; Quadrotor;
Conference_Titel :
Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-7814-9
DOI :
10.1109/ICARCV.2010.5707890
