DocumentCode
2438820
Title
Backstepping based nested multi-loop control laws for a quadrotor
Author
De Vries, Erik ; Subbarao, Kamesh
Author_Institution
Dept. of Aerosp. Eng., Tech. Univ. of Delft, Delft, Netherlands
fYear
2010
fDate
7-10 Dec. 2010
Firstpage
1911
Lastpage
1916
Abstract
Quadrotors are suitable testbeds for several point to point hover based surveillance and observation tasks. As such, the hover mode is a very important mode of operation for a quadrotor platform. This paper describes the design of a hover mode controller using a backstepping based multi-loop design for a linearized quadrotor dynamics. This controller is then tested using both the linear and a full nonlinear simulation model of the quadrotor.
Keywords
helicopters; linear systems; motion control; nonlinear control systems; backstepping; controller design; hover mode controller; linearized quadrotor dynamics; nested multiloop control law; nonlinear simulation model; observation task; point-to-point hover based surveillance; Backstepping; Equations; Force; Mathematical model; Rotors; Stability criteria; Backstepping; Lyapunov stability; Multi-Loop; Quadrotor;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on
Conference_Location
Singapore
Print_ISBN
978-1-4244-7814-9
Type
conf
DOI
10.1109/ICARCV.2010.5707890
Filename
5707890
Link To Document