Modeling and Trajectory Tracking Control of a Quad-rotor UAV
Authors
Dexin Xu, Lu Wang, Guangchun Li, Lidong Guo
Corresponding Author
Dexin Xu
Available Online August 2012.
- DOI
- 10.2991/iccasm.2012.258How to use a DOI?
- Keywords
- UAV, Trajectory tracking control, Eula-Lagrange method, Backstepping approach
- Abstract
The trajectory tracking control of a quad-rotor UAV is discussed in this paper. Firstly, establish the system model by the Eula-Lagrange method. Decompound the system as the position and attitude subsystem, respectively. The backstepping approach based calculation method is proposed to obtain the expected attitude which stabilizes the position subsystem exponentially, farther more, design the controller to stabilize the attitude subsystem exponentially. The simulation results prove that this approach is able to track arbitrary trajectories of a Quad-rotor UAV.
- Copyright
- © 2012, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Dexin Xu AU - Lu Wang AU - Guangchun Li AU - Lidong Guo PY - 2012/08 DA - 2012/08 TI - Modeling and Trajectory Tracking Control of a Quad-rotor UAV BT - Proceedings of the 2012 International Conference on Computer Application and System Modeling (ICCASM 2012) PB - Atlantis Press SP - 1015 EP - 1018 SN - 1951-6851 UR - https://doi.org/10.2991/iccasm.2012.258 DO - 10.2991/iccasm.2012.258 ID - Xu2012/08 ER -