Modeling and Adaptive Backstepping Control for Quadrotor Robots with Blade Flapping

Abstract

Dynamics modeling and control for quadrotor aerial robots are considered in this paper. The threedimensional dynamics model of the quadrotor is first derived using the Newton-Euler approach. When the propelling rotor rotating with respect to the moving robot, the rotating blades could be deflected with an effect on the aerial vehicles known as flapping. The modeling with blade flapping is considered. Then a nonlinear stable adaptive control with flapping parameters estimation is proposed using the backstepping technique for the position and yaw angle trajectory tracking. Finally, computer simulation is used to validate the performance of the proposed control strategy. In the simulation study, the desired trajectory is constructed using the cubic spline interpolation.