Velocity Sensor for Real-Time Backstepping Control of a Multirotor Considering Actuator Dynamics

Area of Science:

• Robotics and Control Systems
• Aerospace Engineering
• Mechatronics

Background:

• Real-time control is crucial for Unmanned Aerial Vehicle (UAV) stability and maneuverability.
• Accurate estimation of derivatives is essential for advanced control laws in dynamic systems.
• Actuator modeling and sensor integration are key challenges in UAV development.

Purpose of the Study:

• To implement and validate a real-time control scheme for a multirotor UAV.
• To integrate angular velocity sensors for actuator feedback and control.
• To develop and test a robust control strategy using backstepping and sliding mode techniques.

Main Methods:

• A two-loop control architecture: inner loop for actuators (PID controller) and outer loop for UAV (backstepping with sliding mode differentiator).
• Utilized robust exact differentiators based on high-order sliding modes for derivative estimation.
• Developed a test bench for experimental measurement and transfer function identification of actuator dynamics.
• Integrated angular velocity sensors with signal conditioning for propeller speed feedback.

Main Results:

• Successfully implemented a real-time control scheme validated through simulations and experiments.
• Demonstrated the effectiveness of the proposed angular velocity sensor and signal conditioning.
• Validated the performance of the backstepping-based UAV control algorithm and PID actuator control.

Conclusions:

• The proposed real-time control scheme effectively enhances UAV performance and stability.
• The integration of angular velocity sensors and advanced control techniques provides robust actuator and vehicle control.
• Experimental validation confirms the practical applicability of the developed system for multirotor applications.