SIMULATION OF NONLINEAR POSITION AND ATITUDE CONTROL FOR MICRO QUADCOPTER WITH LOW DISTURBANCE CONTROLLED BY SLIDING-MODE AND BACKSTEPPING METHODS

Mircea HUJA, Vistrian MATIES, Leon BRAI, Radu BALAN

Abstract


The paper addresses the issues regarding the development of a robust assisted quad-rotor aerial robot (also known as quad-copter) with stable flight capacity. After detailing a dynamical flight model final results will be presented. For position control and attitude of the unmanned aerial vehicle (UAV) different nonlinear control laws are investigated. Back-stepping and sliding-mode controllers are compared with regards to stability and performance. Theoretical analysis will be validated by experiments on the implemented platform.

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References


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P. Pounds, R.Mahony, ”Design of a Four-Rotor Aerial Robot”, Australasian Conference on Robotics and Automation, Auckland, 2002.

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Nonlinear Attitude and Position Control of a MicroQuadrotor using Sliding Mode and Backstepping Techniques Patrick Adigbli, Technische Universit ̈at Munchen, 80290 Munchen, Germany

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