Trajectory tracking control for a quadrotor helicopter based on backstepping using a decoupling quaternion parametrization.
Paul De MonteBoris LohmannPublished in: MED (2013)
Keyphrases
- control law
- sliding mode
- closed loop
- nonlinear systems
- control strategy
- control scheme
- variable structure
- control system
- control algorithm
- adaptive control
- control theory
- input output
- trajectory tracking
- visual servoing
- stability analysis
- optimal control
- control method
- dynamical systems
- motion planning
- autonomous robots
- mathematical model
- tracking error
- dynamic model
- lyapunov function
- fuzzy control
- sliding mode control
- control parameters
- feedback control
- robot manipulators
- networked control systems
- fuzzy controller
- real time
- degrees of freedom
- fuzzy neural network