Abstract
A quad-rotor aircraft is an under-actuated, strongly coupled nonlinear system with parameter uncertainty and un-modeled disturbance. In order to make the aircraft track the desired trajectory, a nested double-loops control system is adopted in this paper. A position error proportional-derivative (PD) controller is designed as the outer-loop controller based on the coupling action between rotational and translational movement, and an adaptive backstepping sliding mode control algorithm is used to stabilize the attitude. Finally, both the numerical simulation and prototype experiment are utilized to demonstrate the effectiveness of the proposed control system.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
