Adaptive Trajectory Control of Quadrotor by Output Feedback based Control via Backstepping Strategy

Abstract

In this paper, a control method of quadrotor is proposed based on the almost strictly positive real (ASPR) based output feedback control and backstepping strategy in order to realize a robust and accurate automatic flight control. By adding parallel feedforward compensators (PFCs) to the considered flight control system so as to render the augmented ASPR control system, output feedback based control is easily designed and the number of steps in backstepping strategy can be reduced. In addition, in order to attain output tracking to arbitrary trajectory of the quadrotor, the ideal attitude angles are utilized to the input design in the backstepping strategy, and a two-degree-of-freedom control system with adaptive feedforward input is designed. The effectiveness of the proposed method will be verified though experiments of quadrotor flight control.