Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Adaptive Backstepping Hovering Control for a Quadrotor with Unknown Parameters

미지 파라미터를 갖는 쿼드로터의 적응 백스테핑 호버링 제어

  • Lee, Keun Uk (Department of Electrical and Electronic Engineering, Yonsei University) ;
  • Park, Jin Bae (Department of Electrical and Electronic Engineering, Yonsei University) ;
  • Choi, Yoon Ho (Department of Electronic Engineering, Kyonggi University)
  • 이근욱 (연세대학교 전기전자공학과) ;
  • 박진배 (연세대학교 전기전자공학과) ;
  • 최윤호 (경기대학교 전자공학과)
  • Received : 2014.03.22
  • Accepted : 2014.07.03
  • Published : 2014.10.01
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Abstract

This paper deals with the adaptive backstepping hovering control for a quadrotor with model parameter uncertainties. In this paper, the backstepping based technique is utilized to design a nonlinear adaptive controller which can compensate for the motor thrust factor and the drag coefficient of a quadrotor. First, the quadrotor nonlinear dynamics is derived using Newton-Euler formulation. In particular, we use the ${\pi}/4$ shifted coordinate for x- and y-axis of a quadrotor. Second, an adaptive backstepping based attitude and altitude tracking control method is presented. The system stability and the convergence of tracking errors are proven using the Lyapunov stability theory. Finally, the simulation results are given to verify the effectiveness of the proposed control method.

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References

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