Robust Attitude Control and Virtual Reality Model for Quadrotor

Abstract

This paper introduces an adaptive attitude control based on a backstepping control scheme for a quadrotor helicopter test bed. First, aerodynamics and motion equations are provided to model the dynamics of the quadrotor and a Virtual Reality (VR) model is developed incorporating the dynamic model to the virtual results of simulation. Then, an adaptive backstepping algorithm is applied to the attitude control and this algorithm is adaptive according to Lyapunov-based stability analysis. Finally, the simulation results with many types of reference signals are provided to demonstrate the good tracking performance of the proposed control algorithm.