Abstract
Quadrotors have generated considerable interest in both the control community due to their simple dynamics and widely applications because of their advantages over regular air vehicles. Unlike other control algorithms that tend to linearize nonlinear systems, backstepping control does not work to cancel the nonlinearities in the system. This leads to more flexible designs since some of the nonlinear terms can contribute to the stability of the system. The backstepping control is implemented in this paper for the robustness of the quadrotor helicopter in the payload dropping process. This control algorithm is implemented on the parameters of an unmanned quadrotor helicopter platform known as Qball-X4 available at the Networked Autonomous Vehicles Lab of Concordia University. Simulation results carried out using a nonlinear model, and wherein the performance achieved with this control strategy is shown.
Highlights
Unmanned helicopters have become increasingly popular for various purposes concerning future commercial and military applications [1,2], either integrated with current manned aircraft or playing the role individually
A robust backstepping control strategy has been presented for the quadrotor to obtain trajectory tracking and payload dropping by controlling its attitude and position simultaneously
The simulation results verify the effectiveness of the proposed backstepping controller
Summary
Unmanned helicopters have become increasingly popular for various purposes concerning future commercial and military applications [1,2], either integrated with current manned aircraft or playing the role individually. Trajectory tracking with payload dropping is typical flight maneuver in using unmanned helicopters Successful fulfillment of this mission is closely tied to the intervention of autopilot or autonomous control systems. The issue of mass variation caused by payload dropping is of much concern since some specific applications like search and rescue or fire-fighting, abrupt or gradual mass variation is inevitable. The study in this aspect for the benefits of such a practical application of the quadrotor was the main motivations for this work. In view of popularity and advantages of backstepping control strategy, in this paper, a backstepping controller is designed and implemented on a quadrotor helicopter UAV
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