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The dynamics of a quadrotor has the characteristics of underactuation, strong coupling, and nonlinearities, which makes the controller design difficult. Aimed at stabilizing the attitude of a quadrotor, in this paper, we establish the dynamics of the quadrotor. Based on the simplified dynamics model, we design a backstepping based controller using Barrier Lyapunov Functions. Numerical examples and...
This paper investigates the backstepping-based distributed tracking control problem for multiple Lagrangian systems with linearly parameterized model uncertainties under the directed communication topology with a directed spanning tree. We consider the dynamic leader case. The leader information is available to only a subset of the followers. By using the position errors of the neighbors as the reference...
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