Backstepping Controller for Attitude Control of a Quadrotor UAV

Joana D'arc Dias Costa¹; Davi Antônio das Santos¹

¹ ITA

doi:10.20906/CPS/COB-2015-0527

Resumo

This work deals with the attitude control problem for a quadrotor unmanned aerial vehicle (UAV). To solve the problem a \textit{backstepping} attitude controller was designed using quaternion as attitude parametrization that guarantees the asymptotic stability of the system. The result was a control law similar to a P-D law with an additional nonlinear term in order to eliminate the nonlinear term from the attitude dynamics. The system was simulated with 6 degrees of freedom (3 translational and 3 rotational) and a P-D controller with constraints on the total thrust and on the inclination angle was used for the position control and to provide the desired attitude for the attitude controller. Propeller dynamics and perturbations acting on the quadrotor were modelled to obtain a more realistic result. In order to validate the designed controller, simulation tests were made using Monte Carlo simulations and the results were effective for a way point trajectory.

Palavras-chave: Attitude control; Backstepping; Quadrotor; Lyapunov