Backstepping control of quadrotor-type UAVs and its application to teleoperation over the Internet

Abstract

We propose a novel exponentially-stable backstepping trajectory tracking control law for unmanned aerial vehicles (UAVs), consisting of translational dynamics and attitude kinematics on SE(3), with one thrust force and two angular rates along three orthogonal axes as control inputs. Its application to the recently-proposed UAV Internet teleoperation control architecture [1] is explained, with a new dynamic-extension filter to avoid discontinuity in the control implementation. Experimental results using a real indoor quadrotor-type UAV are also presented to show the efficacy of the proposed theory. © 2013 Springer-Verlag.