Nonlinear Attitude Stabilization and Tracking Control Techniques for an Autonomous Hexa-Rotor Vehicle

Abstract

This paper present nonlinear attitude stabilization and position tracking control techniques for an autonomous hexa-rotor flying vehicle. Due to its stable and robust maneuverability and fault-tolerant capability, hexa-rotor vehicles have received lots of attention and can be used in various applications such as object delivery and reconnaissance in hostile urban areas. In this work, advanced nonlinear control techniques such as sliding mode control and integral backstepping control are presented and their performances are compared in terms of stabilization and position tracking accuracy and robustness to disturbances. For the verification of the proposed control techniques, various simulation studies are demonstrated along with a realistic nonlinear dynamic model.