Attitude optimal backstepping controller based quaternion for a UAV (Q1793688)

Summary: A hierarchical controller design based on nonlinear \(H_{\infty}\) theory and backstepping technique is developed for a nonlinear and coupled dynamic attitude system using conventional quaternion based method. The derived controller combines the attractive features of \(H_{\infty}\) optimal controller and the advantages of the backstepping technique leading to a control law which avoids winding phenomena. Performance issues of the controller are illustrated in a simulation study made for a four-rotor vertical take-off and landing (VTOL) aerial robot prototype known as the quadrotor aircraft.