BACKSTEPPING CONTROL FOR HEXAROTOR （往后退控制HEXAROTOR）.pdf

ACTA TEHNICA CORVINIENSIS – Bulletin of Engineering Tome VI II [2015] Fascicule 3 [J uly – September] ISSN: 2067 – 3809 Gyula MESTER BACKSTEPPING CONTROL FOR HEXA -ROTOR MICROCOPTER 1.Óbuda University, Doctoral School of Safety and Security Sciences, Budapest, HUNGARY 2. University of Szeged, Faculty of Engineering, Institute of Technology, Robotics Laboratory, Szeged, HUNGARY Abstract : Unmanned autonomous aerial vehicles have become a real center of interest. In the last few years, their utilization has significantly increased. During the last decade many research papers have been published on the topic of modeling and control strategies of autonomous multirotors. Today, they are used for multiple tasks such as navigation and transportation. This paper presents the development of a dynamic modeling and control algorithm - backstepping controller of an autonomous hexa -rotor microcopter. The autonomous hexa -rotor microcopter is an under -actuated and dynamically unstable nonlinear system. The model that represents the dynamic behavior of the hexa -rotor microcopter is complex. Unmanned autonomous aerial vehicles applications are commonly associated with exploration, inspection or surv