1P1-F20 An Underactuated Control for VTOL Aerial Robots with Four Rotors by a Backstepping Method

Abstract

In this paper, a control strategy is proposed for a vertical take-off and landing (VTOL) aerial robot with four-rotors called X4-Flyer. Since the X4-Flyer has underactuated and nonholonomic features, a kinematics based control law is first transformed into a chained form. Next, the transformed kinematic model is controlled by using Astolfi's discontinuous control. A backstepping method that is one of adaptive control methods based on Lyapunov methods combines the kinematics model and the dynamical model to construct the torque control of X4-Flyer. Finally, computer simulations are shown to demonstrate the effectiveness of our approach.