Backstepping approach for controlling a quadrotor using Lagrange form dynamics

DOI10.1007/s10846-009-9331-0zbMath1203.68222OpenAlexW2019271926MaRDI QIDQ614698

Abhijit Das, Kamesh Subbarao, Frank L. Lewis

Publication date: 4 January 2011

Published in: Journal of Intelligent \& Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s10846-009-9331-0

zbMATH Keywords

Adaptive controlNeural networkBack steppingKinematic inversionLyapunov candidateQuadrotor

Mathematics Subject Classification ID

Learning and adaptive systems in artificial intelligence (68T05) Automated systems (robots, etc.) in control theory (93C85) Artificial intelligence for robotics (68T40)

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Cites Work

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• Multilayer feedforward networks are universal approximators
• Robust trajectory tracking for a scale model autonomous helicopter
• Adaptive control of mechanical impedance by coactivation of antagonist muscles
• Systematic design of adaptive controllers for feedback linearizable systems
• Global stabilization of a PVTOL aircraft model with bounded inputs
• Stabilization of a mini rotorcraft with four rotors

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