| Title | Advanced Backstepping Control: Application on a Foldable Quadrotor |
| Publication Type | Conference Paper |
| Year of Publication | 2022 |
| Authors | Belmouhoub, Amina, Bouzid, Yasser, Medjmadj, Slimane, Derrouaoui, Saddam Hocine, Guiatni, Mohamed |
| Conference Name | 2022 19th International Multi-Conference on Systems, Signals & Devices (SSD) |
| Keywords | autonomous aerial vehicles, backstepping, Backstepping control, control theory, Foldable drone, Human Behavior, human factors, mathematical models, pubcrawl, resilience, Resiliency, robust control, Scalability, simulation, Stability analysis, Super-Twisting algorithm, Trajectory tracking, Unconventional quadrotor |
| Abstract | This paper deals with the implementation of robust control, based on the finite time Lyapunov stability theory, to solve the trajectory tracking problem of an unconventional quadrotor with rotating arms (also known as foldable drone). First, the model of this Unmanned Aerial Vehicle (UAV) taking into consideration the variation of the inertia, the Center of Gravity (CoG) and the control matrix is presented. The theoretical foundations of backstepping control enhanced by a Super-Twisting (ST) algorithm are then discussed. Numerical simulations are performed to demonstrate the effectiveness of the proposed control strategy. Finally, a qualitative and quantitative comparative study is made between the proposed controller and the classical backstepping controller. Overall, the results obtained show that the proposed control approach provides better performance in terms of accuracy and resilience. |
| Notes | ISSN: 2474-0446 |
| DOI | 10.1109/SSD54932.2022.9955906 |
| Citation Key | belmouhoub_advanced_2022 |
Advanced Backstepping Control: Application on a Foldable Quadrotor