In this paper, a control strategy to overcome the perturbation problem in quadcopters, primarily in simultaneous flight, using a smoothly saturated error correction, is presented. The quadcopter dynamic model is reduced through feedback linearization. Then is designed an integral-backstepping-like controller, where the error correction actions are limited using a smooth function. Numeric simulation results are carried out to evaluate the proposed control law, showing an adequate behavior under a bounded nonvanishing perturbation.


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    Title :

    Quadcopter Smooth-Saturated Robust Backstepping Control




    Publication date :

    2016-11-01


    Size :

    519485 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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