Geometric control of quadrotor UAVs using integral backstepping

• Main Authors: Bouchaib, A., Taleb, R., Massoum, A., Mekhilef, Saad
• Format: Article
• Published: Institute of Advanced Engineering and Science 2021
• Subjects: T Technology (General); TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.um.edu.my/35717/; https://www.scopus.com/inward/record.uri?eid=2-s2.0-85103223946&doi=10.11591%2fijeecs.v21.i4.pp53-61&partnerID=40&md5=a3bba82d9f6180238ecbcfb0a59088a4

The traditional quadcopter control systems should deal with two common problems. Namely, the singularities related to the inverse kinematics and the ambiguity linked to the quaternion representation of the dynamic model. Moreover, the stability problem due to the system nonlinearity and high degree...