Stabilization of a Quadrotor Using Backstepping Approach

In this paper we present control methods for an autonomous four-rotor helicopter, called a quadrotor, using backstepping. A quadrotor is an under actuated mechanical system with six degrees of freedom and four lift-generating propellers arranged in cross configuration. Maneuvers are executed by varying the speed of the propellers, which causes moments that affect attitude control; and by varying thrust, which affects altitude control. This makes stabilization challenging. In this approach, first we derive a nonlinear mathematical model for the quadrotor including both translational and rotational drag terms. Then we performed various simulations in open and closed loop and implemented several experiments on the test-bench to validate the control laws. Finally, we discuss the results of this approach and compare with other method such as PID and LQ

Keywords:

component , Stabilization , Quadrotor , Nonlinear control , Backstepping