Title :
Backstepping based nonlinear PI for attitude stabilisation of a quadrotor: From theory to experiment
Author :
Bouchoucha, M. ; Tadjine, M. ; Tayebi, A. ; Müllhaupt, P.
Author_Institution :
Ecole Militaire Polytech., Alger
Abstract :
Based on the Euler angles parameterization, a new method for the attitude control of a vertical take-off and landing (VTOL) quadrotor aircraft is proposed. It relies on the combination of the backstepping technique and a nonlinear robust PI controller. The integral action gain is nonlinear and based on a switching function that allows a robust behaviour for the overall control law. One of the strengths of the proposed approach is its robustness with respect to plant parameters uncertainties. The proposed approach has been tested in simulation and in real time and shows good performance.
Keywords :
PI control; aircraft control; attitude control; nonlinear control systems; remotely operated vehicles; robust control; time-varying systems; Euler angles parameterization; attitude control; attitude stabilisation; backstepping technique; nonlinear robust PI controller; switching function; unmanned aerial vehicles; vertical take-off-and-landing quadrotor aircraft; Aircraft; Backstepping; Biological system modeling; Gain; Pd control; Quaternions; Robustness;
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
DOI :
10.1109/IROS.2008.4651238
