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Position Control of a Quadrotor under External Constant Disturbance

Abstract : In the present work, an adaptive backstepping algorithm is developed in order to counteract the effects of disturbances. These disturbances are modeled as a constant force in the translational model part and as a constant torque in the orientation model part. We make the deduction of the mathematical expression for the proposed control algorithm and also we show its performance in simulation. Additionally, we include some experiments for validating the results obtained via simulation.
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https://hal.archives-ouvertes.fr/hal-01236134
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Submitted on : Thursday, December 3, 2015 - 1:36:56 PM
Last modification on : Monday, September 21, 2020 - 2:26:10 PM
Long-term archiving on: : Saturday, April 29, 2017 - 12:12:05 AM

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  • HAL Id : hal-01236134, version 1

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J Colmenares-Vázquez, Nicolas Marchand, Jose-Ernesto Gomez-Balderas, Pedro Castillo, J. J. Téllez-Guzmán, et al.. Position Control of a Quadrotor under External Constant Disturbance. Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS 2015), Nov 2015, Cancun, Mexico. pp.180-185. ⟨hal-01236134⟩

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