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Adaptive Backstepping Sliding Mode Control of Coaxial Octorotor Unmanned Aerial Vehicle
2019
IEEE Access
In this paper, an adaptive backstepping scheme based on sliding mode control method is presented for attitude and altitude tracking control of a coaxial octorotor. The dynamical model of the coaxial octorotor is presented and according to design nature of the control scheme, the dynamical model is divided into three cascaded units: 1) under-actuated unit; 2) fully actuated unit; and 3) rotors thrust force unit. Adaptive backstepping control is then designed for all three units by means of a
doi:10.1109/access.2019.2901366
fatcat:gofrc6o2zvg3tdne6swmwbghge