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Backstepping Control of Quadrotor-Type UAVs and Its Application to Teleoperation over the Internet

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Intelligent Autonomous Systems 12

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 194))

Abstract

We propose a novel exponentially-stable backstepping trajectory tracking control law for unmanned aerial vehicles (UAVs), consisting of translational dynamics and attitude kinematics on SE(3), with one thrust force and two angular rates along three orthogonal axes as control inputs. Its application to the recently-proposed UAV Internet teleoperation control architecture [1] is explained, with a new dynamic-extension filter to avoid discontinuity in the control implementation. Experimental results using a real indoor quadrotor-type UAV are also presented to show the efficacy of the proposed theory.

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Author information

Authors and Affiliations

  1. School of Mechanical & Aerospace Engineering and IAMD, Seoul National University, Seoul, 151-744, Korea

    Dongjun Lee & Changsu Ha

  2. Department of Mechanical, Aerospace & Biomedical Engineering, University of Tennessee, Knoxville, TN, 37996, USA

    Zhiyuan Zuo

Authors
  1. Dongjun Lee
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  2. Changsu Ha
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  3. Zhiyuan Zuo
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Corresponding author

Correspondence to Dongjun Lee .

Editor information

Editors and Affiliations

  1. , School of Information and Communication, Sungkyunkwan University, 300 Chunchun-Dong Jangan-Ku, Kyunggi-Do, 440-746, Korea, Republic of (South Korea)

    Sukhan Lee

  2. Science and Technology, Daegu Gyeongbuk Institute of, 50-1, Sang-Ri, Hyeonpung-Myeon, Dalseong-Gun, Daegu, 711-873, Korea, Republic of (South Korea)

    Hyungsuck Cho

  3. Konkuk University, Neungdong-ro, Gwangjin-gu 120, Seoul, 143-701, Korea, Republic of (South Korea)

    Kwang-Joon Yoon

  4. , Department of Electronics Engineering, Pusan National University, Geum Jeong-ku, Pusan, 609-735, Korea, Republic of (South Korea)

    Jangmyung Lee

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Lee, D., Ha, C., Zuo, Z. (2013). Backstepping Control of Quadrotor-Type UAVs and Its Application to Teleoperation over the Internet. In: Lee, S., Cho, H., Yoon, KJ., Lee, J. (eds) Intelligent Autonomous Systems 12. Advances in Intelligent Systems and Computing, vol 194. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33932-5_21

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  • DOI: https://doi.org/10.1007/978-3-642-33932-5_21

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-33931-8

  • Online ISBN: 978-3-642-33932-5

  • eBook Packages: EngineeringEngineering (R0)

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