Tracking of a moving ground target by a quadrotor using a backstepping approach based on a full state cascaded dynamics

• Main Authors: Tan, Chun Kiat, Wang, Jianliang, Paw, Yew Chai, Ng, Teng Yong
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2017
• Subjects: Quadrotor; UAV
• Online Access: https://hdl.handle.net/10356/83773; http://hdl.handle.net/10220/42805
• Institution: Nanyang Technological University

In this paper, a tracking controller is formulated for a quadrotor to track a moving ground target. The quadrotor exhibits distinct hierarchical dynamics that allows its position to be controlled by its attitude. This motivates the use of backstepping control on the underactuated quadrotor. Most bac...