Robust trajectory tracking control of a Quadrotor UAV

Karima Benzaid (1) , Noura Mansouri (2) , Ouiddad Labbani-Igbida (3)

1 LARC
2 LARC
3 XLIM-SRI - Systèmes et Réseaux Intelligents

In this paper, we present two control strategies of a quadrotor Unmanned Aerial Vehicle (UAV). The dynamics of the system is controlled to achieve a complex trajectory tracking. A controller using the integral backstepping is developed for the stabilization of the six degrees of freedom (6DoF) of the system. Furthermore, we propose a hybrid strategy by combining the integral backstepping and the PID linear controller. For this, we divide the dynamic system into two subsystems; each one with 3DoF. For the stabilization of the rotational dynamics, the PID controller is proposed. The Integral Backstepping is applied for the longitudinal, lateral and vertical position stabilization. Finally, some numerical simulations are conducted to illustrate the robustness of both strategies.

Mots clés: Trajectory tracking; UAV Control

Domaines: Automatique / Robotique

Karima Benzaid, Noura Mansouri, Ouiddad Labbani-Igbida. Robust trajectory tracking control of a Quadrotor UAV. IEEE 3rd International Conference on Systems and Control, Oct 2013, Algiers, Algeria. ⟨hal-00924662⟩