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Attitude Optimal Backstepping Controller Based Quaternion for a UAV

Author

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  • Kaddouri Djamel
  • Mokhtari Abdellah
  • Abdelaziz Benallegue

Abstract

A hierarchical controller design based on nonlinear theory and backstepping technique is developed for a nonlinear and coupled dynamic attitude system using conventional quaternion based method. The derived controller combines the attractive features of optimal controller and the advantages of the backstepping technique leading to a control law which avoids winding phenomena. Performance issues of the controller are illustrated in a simulation study made for a four-rotor vertical take-off and landing (VTOL) aerial robot prototype known as the quadrotor aircraft.

Suggested Citation

  • Kaddouri Djamel & Mokhtari Abdellah & Abdelaziz Benallegue, 2016. "Attitude Optimal Backstepping Controller Based Quaternion for a UAV," Mathematical Problems in Engineering, Hindawi, vol. 2016, pages 1-11, March.
    • Handle: RePEc:hin:jnlmpe:8573235
    DOI: 10.1155/2016/8573235
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    Cited by:

    1. Fengying Ma & Zhe Yang & Peng Ji, 2022. "Sliding Mode Controller Based on the Extended State Observer for Plant-Protection Quadrotor Unmanned Aerial Vehicles," Mathematics, MDPI, vol. 10(8), pages 1-17, April.

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