Geometric control of quadrotor UAVs using integral backstepping
Document Type
Article
Publication Date
1-1-2021
Abstract
The traditional quadcopter control systems should deal with two common problems. Namely, the singularities related to the inverse kinematics and the ambiguity linked to the quaternion representation of the dynamic model. Moreover, the stability problem due to the system nonlinearity and high degree of coupling. This paper provides a solution to the two issues by employing a geometrical integral-backstepping control system. The integral terms were added to improve system ability to track desired trajectories. The high-level control laws are considered as a virtual control and transmitted to the low-level to track the high-level commands. The proposed control system along with the quadcopter dynamic model were expressed in the special Euclidean group SE(3). Finally, the control system robustness against mismatching parameters was studied while tracking various paths. © 2021 Institute of Advanced Engineering and Science. All rights reserved.
Keywords
Backstepping, Geometric, Integral, Lyapunov, Quadrotor
Divisions
fac_eng,sch_ecs
Publication Title
Indonesian Journal of Electrical Engineering and Computer Science
Volume
22
Issue
1
Publisher
Institute of Advanced Engineering and Science