Stabilization and trajectory tracking control for underactuated quadrotor helicopter subject to wind-gust disturbance
The control of quadrotor helicopter has been a great challenge for control engineers and researchers since quadrotor is an underactuated and a highly unstable nonlinear system. In this paper, the dynamic model of quadrotor has been derived and a so-called robust optimal backstepping control (ROBC) i...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Springer India
2015
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| Subjects: | |
| Online Access: | http://eprints.utm.my/56064/1/MohdAriffananMohdBasri2015_StabilizationandTrajectoryTrackingControlforUnderacturedQuadrotor.pdf |