Modeling and analysis of nonlinear backstepping controller for the crazyflie quadrotor trajectory tracking
O H Zekry,
M M Ashry,
A T Hafez
et al.
Abstract:This paper illustrates the Newton-Euler laws-based nonlinear dynamic model of a Crazyflie Quadrotor Unmanned Aerial Vehicle (CF-QUAV). It demonstrates the state-space-form equations that govern how the CF-QUAV moves around its frame (body). A Proposed nonlinear control strategy is used to regulate the height (z), position (x, y), attitude (roll and pitch), and heading (yaw) angles. This strategy is based on a Backstepping nonlinear controller defined by Lyapunov theory. The proposed controller can replace the … Show more
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