MODELLING AND LQ-BACKSTEPPING CONTROL FOR A QUADROTOR

Sébastien Belin, Mathieu Carton, Fabien Macaire

2005

Abstract

Thanks to significant advances during the last decades in the miniaturized robotic area, many Unmanned Aerial Vehicle (UAV) projects were launched. Among them, the QuadriXflyer is an UAV quadrotor designed to evolve autonomously between waypoints given by an operator before flight. In this paper, we propose a modelling and a new hybrid control approach for the QuadriXflyer; a controller integrating the advantages of a Linear Quadratic (LQ) and those of a backstepping approach allowing to compensate the nonlinearities of the system. With this new approach, the gravity will be compensated directly without time delay. Robustness of the controller is then studied to ensure the stability of the quadrotor to exogenous (wind for example) and internal (noise on measurements, uncertainties on the inertia for example) perturbations.

References

  1. Bouabdallah, Murrieri, Siegwart, 2004. In Design and Control of an Indoor Micro Quadrotor. Proc. IEEE, ICRA. New Orleans, USA.
  2. Altug, Ostrowki, Mahony, 2002. In Control of a Quadrotor Helicopter Using Visual Feedback, Proc. IEEE, ICRA. Washinton, USA.
  3. Hamel, Mahony, Lozano, Ostrowski, 2002. In Dynamic modelling and configuration stabilization for an X4- flyer, IFAC. 15th Triennal World Congress, Barcelona, Spain.
  4. Pounds, Mahony, Gresham, 2004. In Towards Dynamically-Favourable Quad-Rotor Aerial Robots, ACRA, Australia.
  5. Bouabdallah, Siegwart, 2005. In Backstepping and sliding mode techniques applied to an Indoor Micro Quadrotor. Proc. IEEE, ICRA. Barcelona, Spain.
  6. Fantoni, Antoni, Lozano, Nazenc, 2001. In Control of the PVTOL aircraft using the forwarding technique and a Lyapunov approach, European Control Conference, ECC2001, Porto, Portugal.
  7. Praly, Ortega, Kaliora, 2000. In Stabilization of Nonlinear Systems via Forwarding mod, Control in the year 2000, LNCIS Vol. 246, eds. A. Isidori, F. Lamnabhi-- Lagarrigue and W. Respondek, Springer--Verlag, London, England.
Download


Paper Citation


in Harvard Style

Belin S., Carton M. and Macaire F. (2005). MODELLING AND LQ-BACKSTEPPING CONTROL FOR A QUADROTOR . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-30-9, pages 134-139. DOI: 10.5220/0001177501340139


in Bibtex Style

@conference{icinco05,
author={Sébastien Belin and Mathieu Carton and Fabien Macaire},
title={MODELLING AND LQ-BACKSTEPPING CONTROL FOR A QUADROTOR},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2005},
pages={134-139},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001177501340139},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - MODELLING AND LQ-BACKSTEPPING CONTROL FOR A QUADROTOR
SN - 972-8865-30-9
AU - Belin S.
AU - Carton M.
AU - Macaire F.
PY - 2005
SP - 134
EP - 139
DO - 10.5220/0001177501340139