Backstepping based nonlinear PI for attitude stabilisation of a quadrotor: From theory to experiment
Backstepping based nonlinear PI for attitude stabilisation of a quadrotor: From theory to experiment
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DOI：
10.1109/iros.2008.4651238
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发表时间：
2008-10
期刊：
影响因子：
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通讯作者：
M. Bouchoucha;M. Tadjine;Abdelhamid Tayebi;P. Müllhaupt
中科院分区：
文献类型：
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作者：
M. Bouchoucha;M. Tadjine;Abdelhamid Tayebi;P. Müllhaupt
基于欧拉角参数化，提出了一种垂直起降（VTOL）四旋翼飞行器姿态控制新方法。它依赖于反步技术和非线性鲁棒 PI 控制器的组合。积分作用增益是非线性的，并且基于开关函数，该函数允许整体控制律具有稳健的行为。该方法的优点之一是其对于工厂参数不确定性的鲁棒性。所提出的方法已经过模拟和实时测试，并显示出良好的性能。
Based on the Euler angles parameterization, a new method for the attitude control of a vertical take-off and landing (VTOL) quadrotor aircraft is proposed. It relies on the combination of the backstepping technique and a nonlinear robust PI controller. The integral action gain is nonlinear and based on a switching function that allows a robust behaviour for the overall control law. One of the strengths of the proposed approach is its robustness with respect to plant parameters uncertainties. The proposed approach has been tested in simulation and in real time and shows good performance.