Sampled-Data Backstepping Control of a Quadrotor Unmanned Aerial Vehicle

Abdul Jabbar, Fahad Mumtaz Malik
2014 IAES International Journal of Robotics and Automation  
Sampled-data backstepping control of a quadrotor UAV is presented in this paper. The discrete time controllers have been designed on the basis of a continuous time system model and an approximate discrete time equivalent system model (Euler Approximate model) obtained using the Euler method. The performance of the controllers obtained using the two sampled-data approaches has been compared in the presence of wing gusts and modeling uncertainties. Simulations have revealed that the backstepping
more » ... ontroller designed on the basis of an approximate discrete time model has better performance in the presence of wind gusts and modeling uncertainties. In addition, the closed loop system has a larger region of attraction.
doi:10.11591/ijra.v4i2.pp124-134 fatcat:viimkn3w4je25afswg5lodcsge