| Autor: |
Belkacem Sait, Fouad Yacef, Yassine Soukkou, Hicham Khebbache |
| Rok vydání: |
2012 |
| Předmět: |
|
| Zdroj: |
International Journal of Information Technology, Control and Automation. 2:1-13 |
| ISSN: |
1839-6682 |
| DOI: |
10.5121/ijitca.2012.2201 |
| Popis: |
This paper considers the stabilization problem of an underactuated quadrotor UAV systemin presence of actuator faults. The dynamic model of quadrotor while takinginto account various physical phenomena, which can influence the dynamics of a flying structureis presented. Subsequently, a new control strategy based on backstepping approach andtaking into account the actuator faults is developed. Lyapunov based stability analysis shows that the proposed control strategy design keep s the stability of the closed loop dynamics of quadrotor UAVeven after the presence of actuator faults. Numerical simulation results are provided to show the good tracking performance ofproposed control laws. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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