Nonlinear Control of a Quadrotor UAV Using Backstepping-Based Sliding Mode Technique
Fuente:
arXiv
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| Autor principal: | |
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| Formato: | Preprint |
| Publicado: |
2025
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866908666242793472 |
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| author | Vo, Thien Nhan |
| author_facet | Vo, Thien Nhan |
| contents | This paper presents the development of a sliding mode controller using the backstepping approach. The controller is employed to synthesize tracking errors and Lyapunov functions. A novel state-space representation is formulated by incorporating the dynamics of the quadrotor and accounting for non-holonomic constraints. The proposed sliding mode controller effectively addresses system nonlinearities and improves tracking of predefined trajectories. Simulation results are presented graphically to demonstrate the controller's performance. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2506_14195 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Nonlinear Control of a Quadrotor UAV Using Backstepping-Based Sliding Mode Technique Vo, Thien Nhan Systems and Control This paper presents the development of a sliding mode controller using the backstepping approach. The controller is employed to synthesize tracking errors and Lyapunov functions. A novel state-space representation is formulated by incorporating the dynamics of the quadrotor and accounting for non-holonomic constraints. The proposed sliding mode controller effectively addresses system nonlinearities and improves tracking of predefined trajectories. Simulation results are presented graphically to demonstrate the controller's performance. |
| title | Nonlinear Control of a Quadrotor UAV Using Backstepping-Based Sliding Mode Technique |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2506.14195 |