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2005
IEEE

Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor

10 years 3 months ago
Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor
Abstract— The latest technological progress in sensors, actuators and energy storage devices enables the developments of miniature VTOL1 systems. In this paper we present the results of two nonlinear control techniques applied to an autonomous micro helicopter called Quadrotor. A backstepping and a sliding-mode techniques. We performed various simulations in open and closed loop and implemented several experiments on the test-bench to validate the control laws. Finally, we discuss the results of each approach. These developments are part of the OS42 project in our lab.
Samir Bouabdallah, Roland Siegwart
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Samir Bouabdallah, Roland Siegwart
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