Integrated vector field and backstepping control for quadcopters

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dc.creatorArthur Henrique Dias Nunes
dc.creatorGuilherme Vianna Raffo
dc.creatorLuciano Cunha de Araújo Pimenta
dc.date.accessioned2025-06-03T14:42:44Z
dc.date.accessioned2025-09-09T00:20:00Z
dc.date.available2025-06-03T14:42:44Z
dc.date.issued2023
dc.identifier.doi10.1109/ICRA48891.2023.10160824
dc.identifier.urihttps://hdl.handle.net/1843/82741
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofIEEE International Conference on Robotics and Automation (ICRA)
dc.rightsAcesso Restrito
dc.subjectTeoria do controle
dc.subject.otherBackstepping , Uncertainty , Automation , Quaternions , Stability analysis , Behavioral sciences , Collision avoidance
dc.subject.otherVector Field , Backstepping Control , Collision , Control Input , Asymptotically Stable , Integration Of Activities , Nonlinear Control , Obstacle Avoidance , Guidance Strategy , Constant Uncertainty , Center Of Mass , Optimal Control , Angular Velocity , Parametrized , Unmanned Aerial Vehicles , Equilibrium Point , Equivalent Parameters , Closest Point , Stability Proof , Simulink , Tangential Components , Target Path
dc.titleIntegrated vector field and backstepping control for quadcopters
dc.typeArtigo de evento
local.audience.educationlevelIEEE International Conference on Robotics and Automation (ICRA)
local.citation.epage1262
local.citation.spage1256
local.description.resumoIn this work, we present an Integrated Guidance and Controller (IGC) scheme to drive quadcopters in path-following tasks with obstacle avoidance and constant uncertainty rejection. This scheme is based on the combination of a time-varying artificial vector field and Backstepping with integral action control. The vector field switches between two behaviors: (i) path-following; and (ii) obstacle circumnavigation to allow collision avoidance. This vector field is then integrated into a nonlinear controller designed via Backstepping with Integral Action to deal with the quadcopter vehicle dynamics and reject constant uncertainties. The considered vehicle model is based on quaternion algebra. The control inputs are considered to be the total thrust and torques. Stability is proved by using Lyapunov's Theory and Matrosov's Theorem.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/10160824

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