IDEAS home Printed from https://ideas.repec.org/a/hin/jnlmpe/749803.html
   My bibliography  Save this article

Attitude Stabilization Control of a Quadrotor UAV by Using Backstepping Approach

Author

Listed:
  • Xing Huo
  • Mingyi Huo
  • Hamid Reza Karimi

Abstract

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.

Suggested Citation

  • Xing Huo & Mingyi Huo & Hamid Reza Karimi, 2014. "Attitude Stabilization Control of a Quadrotor UAV by Using Backstepping Approach," Mathematical Problems in Engineering, Hindawi, vol. 2014, pages 1-9, February.
    • Handle: RePEc:hin:jnlmpe:749803
    DOI: 10.1155/2014/749803
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/MPE/2014/749803.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/MPE/2014/749803.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2014/749803?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:jnlmpe:749803. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.