Attitude Optimal Backstepping Controller Based Quaternion for a UAV

Attitude Optimal Backstepping Controller Based Quaternion for a UAV

A hierarchical controller design based on nonlinear H∞ theory and backstepping technique is developed for a nonlinear and coupled dynamic attitude system using conventional quaternion based method. The derived controller combines the attractive features of H∞ optimal controller and the advantages of...

Full description

Bibliographic Details
Main Authors: Kaddouri Djamel, Mokhtari Abdellah, Abdelaziz Benallegue
Format: Article
Language:English
Published: Hindawi Limited 2016-01-01
Series:Mathematical Problems in Engineering
Online Access:http://dx.doi.org/10.1155/2016/8573235
id doaj-c3dd4c3aaa864a9d92ea22b1ea27a81a
record_format Article
spelling doaj-c3dd4c3aaa864a9d92ea22b1ea27a81a2020-11-24T23:18:43ZengHindawi LimitedMathematical Problems in Engineering1024-123X1563-51472016-01-01201610.1155/2016/85732358573235Attitude Optimal Backstepping Controller Based Quaternion for a UAVKaddouri Djamel0Mokhtari Abdellah1Abdelaziz Benallegue2Preparatory School Oran, Lahn Laboratory, 31000 Oran, AlgeriaUniversity of Sciences and Technology Oran MB, Lahn Laboratory, BP 1505, El M’naouer, 31000 Oran, AlgeriaLaboratoire d’Ingénierie des Systèmes de Versailles, UVSQ, 10-12 avenue de l’Europe, 78140, FranceA hierarchical controller design based on nonlinear H∞ theory and backstepping technique is developed for a nonlinear and coupled dynamic attitude system using conventional quaternion based method. The derived controller combines the attractive features of H∞ optimal controller and the advantages of the backstepping technique leading to a control law which avoids winding phenomena. Performance issues of the controller are illustrated in a simulation study made for a four-rotor vertical take-off and landing (VTOL) aerial robot prototype known as the quadrotor aircraft.http://dx.doi.org/10.1155/2016/8573235
collection DOAJ
language English
format Article
sources DOAJ
author Kaddouri Djamel
Mokhtari Abdellah
Abdelaziz Benallegue
spellingShingle Kaddouri Djamel
Mokhtari Abdellah
Abdelaziz Benallegue
Attitude Optimal Backstepping Controller Based Quaternion for a UAV
Mathematical Problems in Engineering
author_facet Kaddouri Djamel
Mokhtari Abdellah
Abdelaziz Benallegue
author_sort Kaddouri Djamel
title Attitude Optimal Backstepping Controller Based Quaternion for a UAV
title_short Attitude Optimal Backstepping Controller Based Quaternion for a UAV
title_full Attitude Optimal Backstepping Controller Based Quaternion for a UAV
title_fullStr Attitude Optimal Backstepping Controller Based Quaternion for a UAV
title_full_unstemmed Attitude Optimal Backstepping Controller Based Quaternion for a UAV
title_sort attitude optimal backstepping controller based quaternion for a uav
publisher Hindawi Limited
series Mathematical Problems in Engineering
issn 1024-123X
1563-5147
publishDate 2016-01-01
description A hierarchical controller design based on nonlinear H∞ theory and backstepping technique is developed for a nonlinear and coupled dynamic attitude system using conventional quaternion based method. The derived controller combines the attractive features of H∞ optimal controller and the advantages of the backstepping technique leading to a control law which avoids winding phenomena. Performance issues of the controller are illustrated in a simulation study made for a four-rotor vertical take-off and landing (VTOL) aerial robot prototype known as the quadrotor aircraft.
url http://dx.doi.org/10.1155/2016/8573235
work_keys_str_mv AT kaddouridjamel attitudeoptimalbacksteppingcontrollerbasedquaternionforauav
AT mokhtariabdellah attitudeoptimalbacksteppingcontrollerbasedquaternionforauav
AT abdelazizbenallegue attitudeoptimalbacksteppingcontrollerbasedquaternionforauav
_version_ 1725580451690577920

Similar Items