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Abstract
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Article Information:
Adaptive Backstepping Control of an Indoor Micro-Quadrotor
Zheng Fang and Weinan Gao
Corresponding Author: Zheng Fang
Submitted: December 18, 2011
Accepted: April 23, 2012
Published: November 01, 2012 |
Abstract:
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Micro-Quadrotor is one of the most popular VTOL (Vertical Take-Off and Landing) aerial robots
and has enormous potential applications in the field of near-area surveillance and exploration in military and
commercial applications. However, stabilizing and position control of the robot are difficult tasks because of
the nonlinear dynamic behavior and model uncertainties. Backstepping is a widely used control law for underactuated
systems including quadrotor. But general backstepping control algorithm needs accurate model
parameters and isn’t robust to external disturbances. In this study, an adaptive integral backstepping control
algorithm is proposed to realize robust control of quadrotor. The proposed control algorithm can estimate
disturbances online and therefore improve the robustness of the system. Both simulation and experiment results
are presented to validate the performance of the proposed control algorithm.
Key words: Adaptive integral-backstepping , flying robots, micro-quadrotor, model uncertainties, , ,
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Abstract
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Cite this Reference:
Zheng Fang and Weinan Gao, . Adaptive Backstepping Control of an Indoor Micro-Quadrotor. Research Journal of Applied Sciences, Engineering and Technology, (21): 4216-4226.
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ISSN (Online): 2040-7467
ISSN (Print): 2040-7459 |
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