文章基本信息

标题：Payload dropping control of an unmanned quadrotor helicopter based on backstepping controller
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作者：Jing Qiao ; Zhixiang Liu ; Youmin Zhang 等
期刊名称：MATEC Web of Conferences
电子版ISSN：2261-236X
出版年度：2019
卷号：277
DOI：10.1051/matecconf/201927701004
语种：English
出版社：EDP Sciences
摘要：Quadrotors have generated considerable interest in both the control community due to their simple dynamics and widely applications because of their advantages over regular air vehicles. Unlike other control algorithms that tend to linearize nonlinear systems, backstepping control does not work to cancel the nonlinearities in the system. This leads to more flexible designs since some of the nonlinear terms can contribute to the stability of the system. The backstepping control is implemented in this paper for the robustness of the quadrotor helicopter in the payload dropping process. This control algorithm is implemented on the parameters of an unmanned quadrotor helicopter platform known as Qball-X4 available at the Networked Autonomous Vehicles Lab of Concordia University. Simulation results carried out using a nonlinear model, and wherein the performance achieved with this control strategy is shown.