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Backstepping control law application to path tracking with an indoor quadrotor

Lecointe, Maxime and Ponzoni Carvalho Chanel, Caroline and Defaÿ, François Backstepping control law application to path tracking with an indoor quadrotor. (2015) In: Proceedings of European Aerospace Guidance Navigation and Control Conference (EuroGNC), 13 April 2015 - 15 April 2015 (Toulouse, France).

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Abstract

This paper presents an application of the backstepping control to a path tracking mission using an indoor quadrotor. This study case starts on modeling the quadrotor dynamics in order to design a backstepping control which we applied directly to the Lagrangian dynamic equations. The backstepping control is chosen due to its applicability to this class of nonlinear and under-actuate system. To test the designed control law, a complete quadrotor model identification was performed, using a motion capture system. The procedure used to obtain a good model approximation is presented. Experimental results illustrate the validity of the designed control law, including rich simulations and real indoor flight tests.

Item Type:Conference or Workshop Item (Paper)
Audience (conference):International conference proceedings
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Institution:Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
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Deposited By: Caroline Ponzoni Carvalho Chanel
Deposited On:08 Feb 2016 13:16

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