Simple Real-time Attitude Stabilization of a Quad-rotor Aircraft With Bounded Signals
- 1 January 2006
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1533-1538
- https://doi.org/10.1109/cdc.2006.377137
Abstract
In this paper, a simple control algorithm to stabilize the attitude of a quad-rotor aircraft is presented. The controller is obtained using the backstepping technique and adding saturation functions. The analysis of convergence is carried out by using the Lyapunov analysis. The performance of the controller with respect to a classical PD controller is compared by simulation. The robustness of the control algorithm with respect to aggressive perturbations is illustrated with real-time experimentsKeywords
This publication has 8 references indexed in Scilit:
- Nonlinear Control of Feedforward Systems With Bounded SignalsIEEE Transactions on Automatic Control, 2004
- Autonomous vertical landing on an oscillating platform: an internal-model based approachAutomatica, 2002
- Nonlinear control design for slightly non-minimum phase systems: Application to V/STOL aircraftAutomatica, 1992
- Global stabilization and restricted tracking for multiple integrators with bounded controlsSystems & Control Letters, 1992
- The attitude control problemIEEE Transactions on Automatic Control, 1991
- Quarternion feedback regulator for spacecraft eigenaxis rotationsJournal of Guidance, Control, and Dynamics, 1989
- Solution of Kinematical Differential Equations for a Rigid BodyJournal of Applied Mechanics, 1973
- A new method for performing digital control system attitude computations using quaternionsAIAA Journal, 1970