Integral Backstepping Control of an Unconventional Dual-Fan Unmanned Aerial Vehicle

Abstract

In this paper, a dynamic model of vertical take-off and landing (VTOL) aerial vehicles, having lateral and longitudinal rotor tilting mechanism, is first developed using a Newton---Euler formulation. Then an integral backstepping (IB) control technique is proposed to improve the pitch, yaw, and roll stability of the vehicle. Such control mechanisms enables the UAV to perform complex tasks that no other Unmanned Aerial Vehicles (UAVs) can execute such as hover pitched. This control tactic allows the vehicle under investigation, eVader, to use the full potential of its flying characteristics enabled by the novel dual-axis oblique active tilting (OAT) mechanism, which enables it to maneuver inside obstructed environments. The potential of the eVader as a small UAV and its model are verified and then used to for autonomous take-off and landing as well as stabilizing the vehicle's attitude. Finally, diverse simulation scenarios on attitude and position control, stabilization and autonomous take off and landing are presented.