Whole-body backstepping control with integral action of a quadrotor UAV
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Universidade Federal de Minas Gerais
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This paper proposes a backstepping nonlinear control to perform time-varying trajectory tracking
of a quadrotor UAV, assuming its whole six degree of freedom (6DOF) dynamics. The control law is designed
with integral action of the controlled velocities’ errors, in order to guarantee convergence to the reference signals.
By using the whole-body dynamic model in the backstepping approach and assuming the desired behavior of
the rotation matrix as a part of a virtual control, it is obtained reference trajectory tracking and stabilization of
rotational movements, avoiding singularities in the translational control. The stability analysis is performed for
the complete system through the Lyapunov Theory. Simulations are carried out to corroborate the efficiency of
the proposed controller when tracking a time-varying trajectory of the regulated variables (x, y, z and ψ).
Abstract
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Aeronave não tripulada, Liapunov, Funções de, Sistemas não lineares
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Quadrotor UAV, Backstepping approach, Integral action, Nonlinear control, The rotation matrix properties allow developing the translational position control, avoiding singularities in this step
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https://www.sba.org.br/Proceedings/SBAI/SBAI2017/SBAI17/papers/paper_639.pdf