Modeling and Adaptive Backstepping Control for Quadrotor Robots with Blade Flapping

Lih-Chang Lin,Wen-Cong Xu

doi:10.15344/2455-7412/2016/117

Abstract

Dynamics modeling and control for quadrotor aerial robots are considered in this paper. The threedimensional dynamics model of the quadrotor is first derived using the Newton-Euler approach. When the propelling rotor rotating with respect to the moving robot, the rotating blades could be deflected with an effect on the aerial vehicles known as flapping. The modeling with blade flapping is considered. Then a nonlinear stable adaptive control with flapping parameters estimation is proposed using the backstepping technique for the position and yaw angle trajectory tracking. Finally, computer simulation is used to validate the performance of the proposed control strategy. In the simulation study, the desired trajectory is constructed using the cubic spline interpolation.

Highlights

Introduction adaptive control methodologyThe proposed control system is Quadrotor aerial vehicles are highly maneuverable and have enabled a number of indoor and outdoor applications, e.g., three-dimensional (3D) environment exploring, mapping, navigation, transporting, composed of two parts: the inner loop for attitude control and the outer loop for position control.military and commercial opportunities
A PID-based inner-loop/outer-loop scheme is proposed for the 3D translation and yaw control
Propose a tutorial introduction to the rigid-body dynamics modeling, estimation, and control for multirotor aerial vehicles including the Dynamics Model of a Quadrotor Robot quadrotor case. They give a physical discussion about the rotor blade flapping referring to [3,4], and presented a disturbed external force model due to the blade flapping effect

Summary

Kux e4 U1

The y-axis subsystem can be considered by introducing the virtual inputs β3, βuy for x8 and uy respectively, and defining the errors:. Where Yd(t) is the desired trajectory for y. Choose Lyapunov function candidates: In order to make the time derivative V 8 negative definite, we can select the control law U3 as follows:. After taking their time derivatives and choosing β3 and βuy as:

I yy l β θ x12 x10

I xx l β φ

Conclusion