Backstepping Approach for Controlling a Quadrotor Using Lagrange Form Dynamics

Backstepping Based Formation Control of Quadrotors with the State Transformation Technique

“…Substituting the actual altitude input of the i-th follower in (19) into the x, y position dynamics of the i-th follower in (21), and using the state transformation matrix of the i-th follower T i,2 (e zi,1 , e zi,2 , φ f i , θ f i , ψ f i ) given by:…”

“…Considering the nonlinear dynamics of a quadrotor, various nonlinear control methods have been proposed. Many researchers applied the backstepping control method to solve the problem of the position control mentioned above [4,8,[18][19][20][21][22][23][24][25][26][27][28]. The position control of a quadrotor using the backstepping method can be roughly classified in two ways.…”

“…The position control of a quadrotor using the backstepping method can be roughly classified in two ways. The first one is to derive the reference attitude angles for the position control and formation control [4,18,[20][21][22][23][24]27,28]. The other one is to derive the final inputs of a quadrotor by connecting the position to the attitude dynamics of the quadrotor without the use of reference attitude angles [19,25,26].…”

“…However, it is not easy to derive the reference attitude angles from the position dynamics of a quadrotor consisting of several coupled trigonometric functions. Therefore, in most studies, the reference attitude angles for the backstepping-based position control are obtained through simplified quadrotor dynamics or linearization methods such as the small angle assumption (SAA) [4,18,[21][22][23]28]. The SAA assumes that the ranges of the quadrotor attitude angles are small or zero, which works well when a quadrotor operates with small attitude angles.…”

Model predictive quadrotor control: attitude, altitude and position experimental studies

“…In the area of unmanned quadrotors, the problem of control design has primarily focused in the following areas: (a) proportional-integral-differential (PID) controllers, PID controllers augmented with angular acceleration feedback and linear quadratic (LQ)-regulators [10][11][12], (b) nonlinear control methods including sliding mode controllers [13], backstepping control approaches [14][15][16] and integral predictive-nonlinear H ∞ control [17], (c) dynamic inversionbased techniques [18], (d) constrained finite time optimal control schemes [19,20] and (e) model predictive attitude control [21]. In addition, in most of the existing literature of rotorcrafts, research efforts on the effects of the environmental disturbances, such as in [22,23], have focused primarily in simulations and not in experimental studies.…”