Attitude Stabilization Control of a Quadrotor UAV by Using Backstepping Approach

The modeling and attitude stabilization control problems of a four-rotor vertical takeoff and landing unmanned air vehicle (UAV) known as the quadrotor are investigated. The quadrotor’s attitude is represented by the unit quaternion rather than Euler angles to avoid singularity problem. Taking dynam...

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Bibliographic Details
Published in:Mathematical problems in engineering 2014-01, Vol.2014 (2014), p.1-9
Main Authors: Huo, Xing, Huo, Mingyi, Karimi, Hamid Reza
Format: Article
Language:English
Subjects:
Aerial photography
Asymptotic properties
Attitude stability
Closed loop systems
Closed loops
Compensation
Control algorithms
Control stability
Control systems design
Control theory
Controllers
Coriolis force
Design
Euler angles
Gyroscopes
Mathematical models
Nonlinear control
Nonlinearity
Quaternions
Science
Stability analysis
Stabilization
Studies
Torque
Unmanned aerial vehicles
Unmanned helicopters
Vertical takeoff
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Summary:The modeling and attitude stabilization control problems of a four-rotor vertical takeoff and landing unmanned air vehicle (UAV) known as the quadrotor are investigated. The quadrotor’s attitude is represented by the unit quaternion rather than Euler angles to avoid singularity problem. Taking dynamical behavior of motors into consideration and ignoring aerodynamic effect, a nonlinear controller is developed to stabilize the attitude. The control design is accomplished by using backstepping control technique. The proposed control law is based on the compensation for the Coriolis and gyroscope torques. Applying Lyapunov stability analysis proves that the closed-loop attitude system is asymptotic stable. Moreover, the controller can guarantee that all the states of the system are uniformly ultimately bounded in the presence of external disturbance torque. The effectiveness of the proposed control approach is analytically authenticated and also validated via simulation study.
ISSN:1024-123X
1563-5147
DOI:10.1155/2014/749803