Open AccessProceedings Article
Hovering control of a quadrotor
Keun Uk Lee,Han Sol Kim,Jin Bae Park,Yoon Ho Choi +3 more
- pp 162-167
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TLDR
In this article, a hovering control of a quadrotor using the Euler-Lagrange equation and dynamic surface control (DSC) method is presented, where the attitude system and the altitude system are divided into two subsystems.Abstract:
This paper deals with the hovering control of a quadrotor First, we derive the quadrotor model using the Euler-Lagrange equation and perform experiment to identify the model parameter Second, we divide a quadrotor system into two subsystems: the attitude system and the altitude system For attitude control, we use PID control method, and for the altitude control, we use dynamic surface control (DSC) method From the Lyapunov stability theory, we prove that all signals of a quadrotor system are uniformly ultimately bounded(UUB) Finally, we present the simulation and experimental results to verify the effectiveness of the proposed control methodread more
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References
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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.
Proceedings ArticleDOI
Backstepping Control for a Quadrotor Helicopter
T. Madani,Abdelaziz Benallegue +1 more
TL;DR: This paper presents a nonlinear dynamic model for a quadrotor helicopter in a form suited for backstepping control design, based on the Lyapunov stability theory.
Proceedings ArticleDOI
Dynamic surface control of nonlinear systems
TL;DR: This paper presents the method and proves stability via a composite Lyapunov method, and it is shown that these low pass filters allow a design where the model is not differentiated, thus ending the complexity arising due to the "explosion of terms".
Journal Article
Sliding Mode Control Based on Backstepping Approach for an UAV Type-Quadrotor
TL;DR: A sliding mode controller is developed in order to ensure Lyapunov stability, the handling of all system nonlinearities and desired tracking trajectories, and to introduce a new state-space representation of quadrotor.
Proceedings ArticleDOI
Robust low altitude behavior control of a quadrotor rotorcraft through sliding modes
TL;DR: This paper gives the full dynamical model of a commercially available quadrotor rotorcraft and presents its behavior control at low altitudes through sliding mode control and shows that the algorithm successfully drives the system towards the desired trajectory with bounded control signals.