Backstepping control for a tandem rotor UAV robot with two 2-DOF tiltable coaxial rotors

Research output: Contribution to journalArticlepeer-review

Abstract

The study of a fully actuated multi-rotor UAV robot is very important in the field of infrastructure inspection, because it needs a dexterous motion, such as a hovering in a special fixed attitude etc. This paper presents a backstepping control method for a simplified fully actuated model of a tandem rotor UAV robot with two 2-DOF tiltable coaxial rotors. An MIMO vectorial backstepping approach is adopted here, because the input distribution matrix is a square and nonsingular matrix. The two-stage control method based on the Lyapunov second method is presented to stabilize the position and attitude of the whole system. The static control allocation problem is also solved by using a Moore-Penrose pseudoinverse. Finally, two simulations are demonstrated to verify the performance of the proposed control method, where one is a stabilizing problem in which all the desired position and attitude are to be constant, whereas the other is a trajectory tracking problem in which the desired positions are time-varying while the desired attitudes are to be constant.

Original languageEnglish
Pages (from-to)413-420
Number of pages8
JournalJournal of Robotics and Control (JRC)
Volume2
Issue number5
DOIs
Publication statusPublished - Sep 2021

Keywords

  • Backstepping control
  • Control allocation
  • Tiltable coaxial rotor
  • UAV

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Artificial Intelligence

Fingerprint

Dive into the research topics of 'Backstepping control for a tandem rotor UAV robot with two 2-DOF tiltable coaxial rotors'. Together they form a unique fingerprint.

Cite this