Stabilization and trajectory tracking control for underactuated quadrotor helicopter subject to wind-gust disturbance

The control of quadrotor helicopter has been a great challenge for control engineers and researchers since quadrotor is an underactuated and a highly unstable nonlinear system. In this paper, the dynamic model of quadrotor has been derived and a so-called robust optimal backstepping control (ROBC) i...

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Bibliographic Details
Main Authors: Mohd. Basri, Mohd. Ariffanan, Husain, Abdul Rashid, Danapalasingam, Kumeresan A.
Format: Article
Language:English
Published: Springer India 2015
Subjects:
Online Access:http://eprints.utm.my/id/eprint/56064/1/MohdAriffananMohdBasri2015_StabilizationandTrajectoryTrackingControlforUnderacturedQuadrotor.pdf
http://eprints.utm.my/id/eprint/56064/
http://dx.doi.org/10.1007/s12046-015-0384-4
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