NDLI: Backstepping Sliding Mode Control Applied to a Miniature Quadrotor Flying Robot

Content Provider	IEEE Xplore Digital Library
Author	Madani, T. Benallegue, A.
Copyright Year	2006
Description	Author affiliation: Lab. d'Ingenierie des Syst. de Versailles, Velizy (Madani, T.; Benallegue, A.)
Abstract	This paper presents a new controller based on backstepping and sliding mode techniques for miniature quadrotor helicopter. The system is formed by three inter-connected subsystems. The first one which represents the under-actuated subsystem, gives the dynamic relation of the horizontal positions with the tilts angles. The second one, fully-actuated subsystem, gives the dynamics of the vertical position and the yaw angle. The last subsystem gives the dynamics of the propeller forces. The design methodology of the controller is based on the Lyapunov stability. To show the effectiveness of the proposed trajectory tracking control, simulation results are performed on the quadrotor model. The application of the proposed controller to a real miniature helicopter is also presented, some results are included to demonstrate the good performance of the proposed controller
Starting Page	700
Ending Page	705
File Size	664130
Page Count	6
File Format	PDF
ISBN	1424403901
ISSN	1553572X
DOI	10.1109/IECON.2006.347236
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-11-06
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Backstepping Sliding mode control Robots Helicopters Propellers Trajectory Uncertainty Control system synthesis Design methodology Lyapunov method
Content Type	Text
Resource Type	Article

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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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