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In this paper a novel optimal hierarchical controller for a quadrotor is proposed. It is based on optimal control theory and backstepping technique. The used dynamic model of the quadrotor is obtained via Euler-Lagrange formalism and written in a convenient canonical form which represents three interconnected subsystems: under-actuated subsystem, fully-actuated subsystem and propeller subsystem. This...
A hierarchical controller design based on nonlinear optimal theory and backstepping technique is developed. This control law which stabilizes globally the attitude of the system for all the equilibrium points, is parameterized by quaternions. First, for the kinematic subsystem, we design a virtual optimal angular velocity. To obtain the global minimum of the performance index, this optimal angular...
A sliding mode control based on adaptive backstepping approch, is developped respectively in order to synthesise tracking errors and to ensure Lyapunov stability, handling of all system nonlinearities and desired tracking trajectories. Under ground effects and wind disturbances, the body inertia becomes badly known , and non parametric uncertainties are considered in the system model. Dynamic modelling...
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