Abstract
In this paper, we consider the problem of tracking trajectory with a quadcopter, in presence of noise sensors while the efficiency of one of the four propellers is reduced during the course of the mission. To overcome this challenge, backstepping and hierarchical nonlinear controllers are designed. Mathematical control laws are well described to be easy to implement in experimental bench test quadrotors. Simulation results compare the ability of control laws to track the reference. Future work and directions are proposed.
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Brossard, J., Hammami, M., Bensoussan, D. (2022). Nonlinear Robust Control for Quadrotor. In: Zattoni, E., Simani, S., Conte, G. (eds) 15th European Workshop on Advanced Control and Diagnosis (ACD 2019). ACD 2019 2018. Lecture Notes in Control and Information Sciences - Proceedings. Springer, Cham. https://doi.org/10.1007/978-3-030-85318-1_73
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DOI: https://doi.org/10.1007/978-3-030-85318-1_73
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