From Integral backstepping to integral sliding mode attitude stabilization of a quadrotor system: Real time implementation on an embedded control system based on a dsPIC µC

摘要

This work aims to redesign an embedded control system for an autonomous quadrotor. This embedded control system is developed based on a DsPic microcontroller. A wireless communication between the ground station and the system is insured via an Xbee device and an inertial measurement unit is used for attitude measurement. Two control algorithms are implemented in real time on the embedded system for the attitude stabilization; the Integral backstepping and the integral sliding mode controllers. The results obtained show good performance stabilization, demonstrates superior angles tracking response as well as rejection to the load disturbance.