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Backstepping/nonlinear H control for path tracking of a quadrotor unmanned aerial vehicle

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3 Author(s)
Guilherme V. Raffo ; Department of Systems Engineering and Automation, University of Seville, Camino de los Descubrimientos sn, 41092, Spain ; Manuel G. Ortega ; Francisco R. Rubio

This paper presents a nonlinear robust control strategy to solve the path tracking problem for a quadrotor unmanned aerial vehicle. The helicopter motion equations is obtained by the Lagrange- Euler formalism. The control structure is performed through a nonlinear Hinfin controller to stabilize the rotational movements and a control law based on backstepping approach to track the reference trajectory. Finally, simulations results in presence of aerodynamic moments disturbances and parametric uncertainty is carried out to corroborate the effectiveness and the robustness of the strategy proposed.

Published in:

2008 American Control Conference

Date of Conference:

11-13 June 2008