This paper introduces an attitude control technique for a quadrotor aircraft. Considering that the non-linear characteristics of the aircraft makes it difficult to stabilize, a quadrotor controlled with an adaptive algorithm. Accordingly, we proposed a quadrotor application with backstepping based on the Lyapunov function. Furthermore, we designed a separate actuator control to be mounted on the aircraft for the control of the quadrotor. This approach is often used in industrial equipments. In particular, the limited pole placement (LPP) method is applied to design the controller considering the characteristics of the actuator. The representative simulation results are presented and discussed.
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