Attitude Optimal Backstepping Controller Based Quaternion for a UAV

被引：25

作者：

Djamel, Kaddouri ^{[1
]}

Abdellah, Mokhtari ^{[2
]}

Benallegue, Abdelaziz ^{[3
]}

机构：

[1] Preparatory Sch Oran, Lahn Lab, Oran 31000, Algeria

[2] Univ Sci & Technol Oran MB, Lahn Lab, BP 1505, El Mnaouer 31000, Oran, Algeria

[3] UVSQ, Lab Ingn Syst Versailles, 10-12 Ave Europe, F-78140 Versailles, France

来源：

MATHEMATICAL PROBLEMS IN ENGINEERING | 2016年 / 2016卷

关键词：

STABILIZATION; SPACECRAFT; ROBUST;

D O I：

10.1155/2016/8573235

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

A hierarchical controller design based on nonlinear H-infinity theory and backstepping technique is developed for a nonlinear and coupled dynamic attitude system using conventional quaternion based method. The derived controller combines the attractive features of H-infinity optimal controller and the advantages of the backstepping technique leading to a control law which avoids winding phenomena. Performance issues of the controller are illustrated in a simulation study made for a four-rotor vertical take-off and landing (VTOL) aerial robot prototype known as the quadrotor aircraft.

引用

页数：11

共 18 条

[1]

BARRERA A, 2011, ADV ROBOT NAVIGATION

[2]

Fortuna L, 1999, INTELL AUTOM SOFT CO, V5, P191

[3]

Hughes PC., 1986, SPACECRAFT ATTITUDE

[4] ROBUST ATTITUDE STABILIZATION OF SPACECRAFT USING NONLINEAR QUATERNION FEEDBACK [J].

JOSHI, SM ;

KELKAR, AG ;

WEN, JTY .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1995, 40 (10) :1800-1803

[5] Nonlinear H∞ control of a Quadrotor (UAV), using high order sliding mode disturbance estimator [J].

Kerma, Mokhtar ;

Mokhtari, Abdellah ;

Abdelaziz, Benallegue ;

Orlov, Yuri .

INTERNATIONAL JOURNAL OF CONTROL, 2012, 85 (12) :1876-1885

[6] Global set stabilization of the spacecraft attitude control problem based on quaternion [J].

Li, Shihua ;

Ding, Shihong ;

Li, Qi .

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2010, 20 (01) :84-105

[7] Robust and optimal attitude stabilization of spacecraft with external disturbances [J].

Park, Y .

AEROSPACE SCIENCE AND TECHNOLOGY, 2005, 9 (03) :253-259

[8]

SHUSTER MD, 1993, J ASTRONAUT SCI, V41, P439

[9] Tracking control of a class of non-linear systems with applications to cruise control of air-breathing hypersonic vehicles [J].

Sun, Hongfei ;

Yang, Zhiling ;

Meng, Bin .

INTERNATIONAL JOURNAL OF CONTROL, 2015, 88 (05) :885-896

[10] Attitude stabilization of a four-rotor aerial robot [J].

Tayebi, A ;

McGilvray, S .

2004 43RD IEEE CONFERENCE ON DECISION AND CONTROL (CDC), VOLS 1-5, 2004, :1216-1221

← 1 2 →