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...
Main Authors: | Kaddouri Djamel, Mokhtari Abdellah, Abdelaziz Benallegue |
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Format: | Article |
Language: | English |
Published: |
Hindawi Limited
2016-01-01
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Series: | Mathematical Problems in Engineering |
Online Access: | http://dx.doi.org/10.1155/2016/8573235 |
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