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IJAT Vol.9 No.3 pp. 283-290
doi: 10.20965/ijat.2015.p0283
(2015)

Paper:

Robust Attitude Control and Virtual Reality Model for Quadrotor

To Xuan Dinh*, Doan Ngoc Chi Nam*, and Kyoung Kwan Ahn**,†

*Graduate School of Mechanical Engineering, University of Ulsan
Daehakro 93, Namgu, Ulsan 680-749, South Korea

**School of Mechanical Engineering, University of Ulsan
Daehakro 93, Namgu, Ulsan 680-749, South Korea

Corresponding author

Received:
April 14, 2014
Accepted:
February 26, 2015
Published:
May 5, 2015
Keywords:
unmanned aerial vehicle (UAV), quadrotor helicopter, backstepping control, adaptive control
Abstract

This paper introduces an adaptive attitude control based on a backstepping control scheme for a quadrotor helicopter test bed. First, aerodynamics and motion equations are provided to model the dynamics of the quadrotor and a Virtual Reality (VR) model is developed incorporating the dynamic model to the virtual results of simulation. Then, an adaptive backstepping algorithm is applied to the attitude control and this algorithm is adaptive according to Lyapunov-based stability analysis. Finally, the simulation results with many types of reference signals are provided to demonstrate the good tracking performance of the proposed control algorithm.

Cite this article as:
T. Dinh, D. Nam, and K. Ahn, “Robust Attitude Control and Virtual Reality Model for Quadrotor,” Int. J. Automation Technol., Vol.9, No.3, pp. 283-290, 2015.
Data files:
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Last updated on Dec. 05, 2019