Sampled-Data Backstepping Control of a Quadrotor Unmanned Aerial Vehicle
نویسندگان
چکیده
منابع مشابه
Backstepping/Nonlinear Hinf Control for Path Tracking of a QuadRotor Unmanned Aerial Vehicle
This paper presents a nonlinear robust control strategy to solve the path tracking problem for a quadrotor unmanned aerial vehicle. The helicopter motion equations is obtained by the LagrangeEuler formalism. The control structure is performed through a nonlinear H∞ controller to stabilize the rotational movements and a control law based on backstepping approach to track the reference trajectory...
متن کاملRobust Fuzzy Backstepping Sliding Mode Controller For a Quadrotor Unmanned Aerial Vehicle
The main purpose of this paper is to integrate fuzzy logic control and sliding mode control techniques based on backstepping approach to develop a robust fuzzy backstepping sliding mode controller (RFBSMC) for an under-actuated quadrotor UAV system under external disturbances and parameter uncertainties. First, a robust backstepping sliding mode control for quadrotor is introduced briefly. More...
متن کاملAdaptive Neural Network for a Quadrotor Unmanned Aerial Vehicle
A new adaptive neural control scheme for quadrotor helicopter stabilization at the presence of sinusoidal disturbance is proposed in this paper. The adaptive control classical laws such e-modification presents some limitations in particular when persistent oscillations are presenting in the input. These techniques can create a dilemma between weights drifting and tracking errors. To avoid this ...
متن کاملLuxor, EGYPT ROBUST MODEL REFERENCE ADAPTIVE CONTROL OF A QUADROTOR UNMANNED AERIAL VEHICLE
Quadrotors are growing rapidly in popularity for use as platforms for robotics research worldwide. This paper describes the development of a robust model reference adaptive controller to a quadrotor unmanned aerial vehicle. Some signi cant characteristics of the system's dynamics are derived for system uncertainties in the case of partial actuator failures. A comparison between the adaptive con...
متن کاملDynamic Model and Control of a New Quadrotor Unmanned Aerial Vehicle with Tilt-Wing Mechanism
Abstract—In this work a dynamic model of a new quadrotor aerial vehicle that is equipped with a tilt-wing mechanism is presented. The vehicle has the capabilities of vertical take-off/landing (VTOL) like a helicopter and flying horizontal like an airplane. Dynamic model of the vehicle is derived both for vertical and horizontal flight modes using Newton-Euler formulation. An LQR controller for ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IAES International Journal of Robotics and Automation (IJRA)
سال: 2014
ISSN: 2089-4856,2089-4856
DOI: 10.11591/ijra.v4i2.pp124-134