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All Journal IAES International Journal of Robotics and Automation (IJRA)
Chuan Lian Zhang
Chonbuk National University
Automotive Engineering Electrical & Electronics Engineering

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Nonlinear Hybrid Controller for a Quadrotor Based on Sliding Mode and Backstepping Chuan Lian Zhang; Kil To Chong
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 3: September 2015
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (356.71 KB) | DOI: 10.11591/ijra.v4i3.pp209-218

Abstract

In this paper, one nonlinear hybrid controller, based on backstepping and sliding mode, was developed and applied to a quadrotor for waypoint navigation application. After dynamics modeling, the whole quadrotor dynamics system could be divided into two subsystems: rotational system and translational system. Backstepping control law was derived for attitude control whereas sliding mode control law was developed for position control. By using Lyapunov theory and satisfying sliding stable rules, the convergence of system could be guaranteed. A nonlinear equation was proposed to solve the under-actuated problem. To validate the effectiveness of proposed nonlinear hybrid controller, waypoint navigation simulation was performed on the nonlinear hybrid controller. Results showed that the nonlinear hybrid controller finished waypoint navigation successfully.
Co-Authors Kil To Chong