| Autor: |
Hicham Khebbache, Fouad Yacef, Belkacem Sait |
| Rok vydání: |
2012 |
| Předmět: |
|
| Zdroj: |
International Journal of Control Theory and Computer Modeling. 2:39-52 |
| ISSN: |
2249-1155 |
| DOI: |
10.5121/ijctcm.2012.2204 |
| Popis: |
The work proposed in this paper aims to design a robust stabilization of an underactuated quadrotor UAV system in presence of sensor failures. The dynamical model of quadrotor while taking into account various physical phenomena, which can influence the dynamics of a flying structure is presented. Subsequently, a new control strategy based on backstepping approach is developed. Lyapunov based stability analysis shows that the proposed control strategy design keep the stability of the closed loop dynamics of the quadrotor UAV even after the presence of sensor failures. Numerical simulation results are provided to show the good tracking performance of proposed control laws. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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