Modeling of an unmanned aerial vehicle and trajectory tracking control using backstepping approach
Asmaa Taame, I. Lachkar, A. Abouloifa
Abstract
A quadcopter is a type of unmanned under-actuated aerial vehicle (UAV) that has four arms, each connected to a motor (Hussein, 2020). It is an excellent platform for research on control, due to its high non-linearity and the high degree of coupling in its dynamic representation of the model. This paper deals with the modeling of this nonlinear system using the Newton-Euler formalism, combining the dynamics of translation and rotation of the vehicle. The control objective is to track the reference trajectory by managing altitude and attitude at the same time. A control structure based on two cascade loops is developed using the nonlinear Backstepping approach with Lyapunov's stability theory. Simulation results in Matlab/Simulink show that the control objective is met.