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

TLDR

Recent advances in sensors, actuators, and energy storage enable miniature VTOL systems, a focus of the OS4 project in our lab. The paper presents results of two nonlinear control techniques applied to an autonomous micro helicopter called Quadrotor. We used backstepping and sliding‑mode techniques, validated through simulations and test‑bench experiments. The study discusses the comparative performance of the backstepping and sliding‑mode control approaches.

Abstract

The latest technological progress in sensors, actuators and energy storage devices enables the developments of miniature VTOL 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 OS4 project in our lab.