Title :
Step by step robust nonlinear PI for attitude stabilisation of a four-rotor mini-aircraft
Author :
Bouchoucha, M. ; Tadjine, M. ; Tayebi, A. ; Mullhaupt, P.
Author_Institution :
Ecole Militaire, Algiers
Abstract :
Based on the Euler angles parameterization, a new approach for the attitude control of a vertical take-off and landing (VTOL) quadrotor aircraft is proposed. It rests on the combination of the backstepping technique and a nonlinear robust PI controller. The integral action gain is nonlinear and based on a switching function that ensures a robust behaviour for the overall control law. One of the strengths of the proposed approach is its robustness with respect to plant parameters uncertainties. The proposed approach has been tested in simulation and shows good performance.
Keywords :
PI control; aircraft control; attitude control; integral equations; nonlinear control systems; robust control; time-varying systems; uncertain systems; Euler angle parameterization; attitude control; backstepping technique; integral action gain; parameter uncertainty; quadrotor aircraft; robust nonlinear PI control; stabilisation; switching function; Attitude control; Automatic control; Backstepping; Control systems; PD control; Quaternions; Robust control; Robustness; Sliding mode control; Unmanned aerial vehicles;
Conference_Titel :
Control and Automation, 2008 16th Mediterranean Conference on
Conference_Location :
Ajaccio
Print_ISBN :
978-1-4244-2504-4
Electronic_ISBN :
978-1-4244-2505-1
DOI :
10.1109/MED.2008.4602258
