Open Access
Comparison of Quadrotor Performance Using Backstepping and Sliding Mode Control
TLDR
A quadrotor is nonlinear, coupled and unstable system and two control schemes, namely backstepping and sliding mode, have been applied to obtain desired trajectory tracking by Quadrotor.Abstract:
A quadrotor is nonlinear, coupled and unstable system. Two control schemes, namely backstepping and sliding mode, have been applied to obtain desired trajectory tracking by quadrotor. This paper presents the comparative performance results of quadrotor under two control schemes.read more
Citations
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Journal ArticleDOI
Quadrotor Control Via Robust Generalized Dynamic Inversion and Adaptive Non-Singular Terminal Sliding Mode
TL;DR: In this paper, a robust two-loops structured control system design for quadrotor's position/attitude trajectory tracking is proposed, where the outer loop is designed to provide the roll/pitch tilting comman...
Proceedings ArticleDOI
Sliding Mode Control: An Approach to Control a Quadrotor
TL;DR: In this article, a controller based on sliding mode theory for vertical take-off and landing of a quad-rotor is presented, which can be implemented using a PD controller as the sliding surface, and adding some algebra the complete controller algorithm is presented.
Journal ArticleDOI
A Review of Quadrotor Unmanned Aerial Vehicles: Applications, Architectural Design and Control Algorithms
TL;DR: In this article , the authors present a clear categorization overview for more than a decade worth of substantial progress in UAVs and explore and examine various vertical take-off and landing (VTOL) configurations, expressing the dynamics, applicable simulation tools and control strategies for a Quadrotor.
Journal ArticleDOI
A Survey of Free Software for the Design, Analysis, Modelling, and Simulation of an Unmanned Aerial Vehicle
TL;DR: The essential knowledge about UAVs is summarized, including the fundamentals of flight mechanics and aerodynamics, and the structure of a UAV system are summarized, and future improvements of the free software are suggested.
Journal ArticleDOI
Robust Generalized Dynamic Inversion Quadrotor Control
TL;DR: In this article, a two-loops Robust Generalized Dynamic Inversion (RGDI) quadrotor control system design is presented, where the outer loop provides pitch and roll attitude commands to the inner loop, which in turn generates the tilting angles that are required to control the quadrotors position in the horizontal inertial plane in addition to the required reaction torque and thrust for yaw attitude and altitude tracking, respectively.
References
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Book
Applied Nonlinear Control
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
Proceedings ArticleDOI
PID vs LQ control techniques applied to an indoor micro quadrotor
TL;DR: The results of two model-based control techniques applied to an autonomous four-rotor micro helicopter called quadrotor are presented, a classical approach (PID) assumed a simplified dynamics and a modern technique based on a more complete model.
Proceedings ArticleDOI
Quadrotor Helicopter Flight Dynamics and Control: Theory and Experiment
TL;DR: In this paper, a theoretical development is presented, and validated through both thrust test stand measurements and vehicle flight tests using the Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC) quadrotor helicopter.
Proceedings ArticleDOI
Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor
TL;DR: The results of two nonlinear control techniques applied to an autonomous micro helicopter called Quadrotor are presented, a backstepping and a sliding-mode techniques.
Proceedings ArticleDOI
Design and control of an indoor micro quadrotor
TL;DR: The approach that the lab has taken to micro VTOL evolving towards full autonomy is described, and the mechanical design, dynamic modelling, sensing, and control of the indoor VTOL autonomous robot OS4 are presented.