Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor

Abstract— The latest technological progress in sensors, actuators and energy storage devices enables the developments of miniature VTOL1 systems. In this paper we present the results of two nonlinear control techniques applied to an autonomous micro helicopter called Quadrotor. A backstepping and a sliding-mode techniques. We performed various simulations in open and closed loop and implemented several experiments on the test-bench to validate the control laws. Finally, we discuss the results of each approach. These developments are part of the OS42 project in our lab.

• Type: Conference
• Year: 2005
• Where: ICRA
• Authors: Samir Bouabdallah, Roland Siegwart
• Keywords: Autonomous Micro Helicopter, ICRA 2005, Latest Technological Progress, Nonlinear Control Techniques, Robotics