Open Access
Nonlinear Attitude and Position Control of a Micro Quadrotor using Sliding Mode and Backstepping Techniques
TLDR
In this article, the authors proposed a reliable assisted remote control for a four-rotor miniature aerial robot (known as quadrotor), guaranteeing the capability of a stable autonomous flight.Abstract:
The present study addresses the issues concerning the developpment of a reliable assisted remote control for a four-rotor miniature aerial robot (known as quadrotor), guaranteeing the capability of a stable autonomous flight. The following results are proposed: after establishing a dynamical flight model as well as models for the rotors, gears and motors of the quadrotor, different nonlinear control laws are investigated for attitude and position control of the UAV. The stability and performance of feedback, backstepping and sliding mode controllers are compared in simulations. Finally, experiments on a newly implemented quadrotor prototype have been conducted in order to validate the theoretical analysis.read more
Citations
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Journal ArticleDOI
The Transferability Approach: Crossing the Reality Gap in Evolutionary Robotics
TL;DR: The transferability approach is proposed, a multiobjective formulation of ER in which two main objectives are optimized via a Pareto-based multiobjectives evolutionary algorithm: 1) the fitness; and 2) the transferability, estimated by a simulation-to-reality (STR) disparity measure.
Journal ArticleDOI
Nonlinear and Adaptive Intelligent Control Techniques for Quadrotor UAV – A Survey
Hongwei Mo,Ghulam Farid +1 more
TL;DR: In this paper, the authors infer adaptive nonlinear approaches to be used for flight control system in quadrotor configuration using parametric uncertainties and coupled nonlinear dynamics inherent in quadrobot configuration.
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A survey on quadrotors: Configurations, modeling and identification, control, collision avoidance, fault diagnosis and tolerant control
TL;DR: A type of aircraft with an important and significant potential is the so-called Quadrotor that is considered by most research studies as a promising UAV.
Proceedings ArticleDOI
Attitude control of a quadrotor
TL;DR: In this paper, an altitude stabilization, hovering control and attitude control of a quadrotor was performed using computer simulations and compared the results according to this study objective, using computer simulation.
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Trajectory tracking control of multirotors from modelling to experiments: A survey
Hyeonbeom Lee,H. Jin Kim +1 more
TL;DR: In this paper, the authors provide background materials by categorizing various representations of multi-rotor dynamics and existing control approaches for multirotors control, and show various types of flight test-beds configured for validating the controller.
References
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Variable structure systems with sliding modes
TL;DR: Design and analysis forVariable structure systems are surveyed in this paper and it is shown that advantageous properties result from changing structures according to this switching logic.
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.
Journal ArticleDOI
Attitude stabilization of a VTOL quadrotor aircraft
Abdelhamid Tayebi,S. McGilvray +1 more
TL;DR: A new quaternion-based feedback control scheme for exponential attitude stabilization of a four-rotor vertical takeoff and landing aerial robot known as a quadrotor aircraft is proposed and the model-independent PD controller, without compensation of the Coriolis and gyroscopic torques, provides asymptotic stability for the problem.
Proceedings ArticleDOI
Modelling the Draganflyer four-rotor helicopter
TL;DR: A theoretical analysis of the dynamics of the Draganflyer is done in order to develop a model of it from which a computer control system for stable hovering and indoor flight can be developed.
Proceedings ArticleDOI
Embedded control of a four-rotor UAV
TL;DR: The design of an embedded-control architecture for a four-rotor unmanned air vehicle (UAV) to perform autonomous hover flight is presented and a non-linear control law based on nested saturations technique is presented that stabilizes the state of the aircraft around the origin.