Whole-body backstepping control with integral action of a quadrotor UAV

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dc.creatorGiovanni F. Salierno
dc.creatorGuilherme Vianna Raffo
dc.date.accessioned2025-03-31T15:56:54Z
dc.date.accessioned2025-09-09T00:36:43Z
dc.date.available2025-03-31T15:56:54Z
dc.date.issued2017
dc.identifier.urihttps://hdl.handle.net/1843/81126
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofXIII Simpósio Brasileiro de Automação Inteligente (SBAI)
dc.rightsAcesso Aberto
dc.subjectAeronave não tripulada
dc.subjectLiapunov, Funções de
dc.subjectSistemas não lineares
dc.subject.otherQuadrotor UAV, Backstepping approach, Integral action, Nonlinear control
dc.subject.otherThe rotation matrix properties allow developing the translational position control, avoiding singularities in this step
dc.titleWhole-body backstepping control with integral action of a quadrotor UAV
dc.typeArtigo de evento
local.citation.epage8
local.citation.spage1
local.description.resumoThis 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).
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://www.sba.org.br/Proceedings/SBAI/SBAI2017/SBAI17/papers/paper_639.pdf

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