This paper is about modeling and control of autonomous quadrotor helicopter. In this paper, we first establish the quadrotor dynamic model using torque control method dealing with the barycenter shift problem. Then we developed the automatic flight controller by combining the Fractional PID as the inner loop for attitude control and Backstepping as the outer loop achieving trajectory tracking. Finally, we verified the proposed controller in simulation environment using our self-developed quadrotor helicopter parameters.
Fractional PID and backstepping control for a small quadrotor helicopter
2015 34th Chinese Control Conference (CCC) ; 5701-5706
2015-07-01
1385553 byte
Conference paper
Electronic Resource
English
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