{"title":"无人机的后退控制","authors":"A. Saibi, R. Boushaki, Hadjira Belaidi","doi":"10.3390/engproc2022014004","DOIUrl":null,"url":null,"abstract":"This work derives the models which can be used to design and implement control laws for six degrees-of-freedom (DOF) quadrotor stability. The first part of this paper deals with the presentation of the background of quadrotor modeling; the second part describes the direct control of the drone using the backstepping control principal. This principal is based on the division of the system into several sub-systems in a cascade, which makes the control laws generated on each subsystem, in a decreasing manner, until a global control law for the whole system is generated. The simulation results for the sm controller are generated on the MATLAB/Simulink platform; the results show a good performance in both the transient and steady-state operations.","PeriodicalId":11748,"journal":{"name":"Engineering Proceedings","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2022-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":"{\"title\":\"Backstepping Control of Drone\",\"authors\":\"A. Saibi, R. Boushaki, Hadjira Belaidi\",\"doi\":\"10.3390/engproc2022014004\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This work derives the models which can be used to design and implement control laws for six degrees-of-freedom (DOF) quadrotor stability. The first part of this paper deals with the presentation of the background of quadrotor modeling; the second part describes the direct control of the drone using the backstepping control principal. This principal is based on the division of the system into several sub-systems in a cascade, which makes the control laws generated on each subsystem, in a decreasing manner, until a global control law for the whole system is generated. The simulation results for the sm controller are generated on the MATLAB/Simulink platform; the results show a good performance in both the transient and steady-state operations.\",\"PeriodicalId\":11748,\"journal\":{\"name\":\"Engineering Proceedings\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-01-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"6\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Engineering Proceedings\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.3390/engproc2022014004\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Engineering Proceedings","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.3390/engproc2022014004","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
This work derives the models which can be used to design and implement control laws for six degrees-of-freedom (DOF) quadrotor stability. The first part of this paper deals with the presentation of the background of quadrotor modeling; the second part describes the direct control of the drone using the backstepping control principal. This principal is based on the division of the system into several sub-systems in a cascade, which makes the control laws generated on each subsystem, in a decreasing manner, until a global control law for the whole system is generated. The simulation results for the sm controller are generated on the MATLAB/Simulink platform; the results show a good performance in both the transient and steady-state operations.
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