Proceedings of the 2012 International Conference on Computer Application and System Modeling (ICCASM 2012)

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/).

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Volume Title
Proceedings of the 2012 International Conference on Computer Application and System Modeling (ICCASM 2012)
Series
Advances in Intelligent Systems Research
Publication Date
August 2012
ISBN
978-94-91216-00-8
ISSN
1951-6851
DOI
10.2991/iccasm.2012.258How to use a DOI?
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  -