NDLI: Control of a Quadrotor Mini-Helicopter via Full State Backstepping Technique

Content Provider	IEEE Xplore Digital Library
Author	Madani, T. Benallegue, A.
Copyright Year	2006
Description	Author affiliation: Syst. Eng. Lab. of Versailles (Madani, T.; Benallegue, A.)
Abstract	In this paper, we present a new control approach for a quadrotor mini-helicopter using the full state backstepping technique. The controller can set the helicopter track three Cartesian position and the yaw angle to their desired trajectories and stabilize the pitch and roll angles by varying the input signals of DC-motors. The quadrotor has been presented into three interconnected subsystems. The first one representing the under-actuated subsystem, gives the dynamic relation of the horizontal positions with the pitch and roll angles. The second fully-actuated subsystem represents the dynamic behavior of the vertical position and the yaw angle. The last subsystem gives the dynamic of the four rotors propeller system. The design controller methodology is based on the Lyapunov stability theory. Various simulations of a quadrotor show the good performance of the proposed control law. Finally, we present initial flight experiments where the mini-helicopter is restricted to vertical and yaw motions
Starting Page	1515
Ending Page	1520
File Size	773795
Page Count	6
File Format	PDF
ISBN	1424401712
DOI	10.1109/CDC.2006.377548
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-12-13
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Backstepping Helicopters Vehicle dynamics Trajectory Automatic control Vehicles Control systems USA Councils Propellers Design methodology
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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