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

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Bouabdallah, S., Siegwart, R.·2006·Proceedings of the 2005 IEEE International Conference on Robotics and Automation
DOI 10.1109/robot.2005.1570447
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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.

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Metadata

Authors
Bouabdallah, S., & Siegwart, R.
Venue
Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Publisher
IEEE
Published
2006-01-18
Pages
2247-2252
ISSN
1050-4729 (ISSN-L)
DOI
10.1109/robot.2005.1570447
OpenAlex
W2153807823
Cited by
1,038
References
0
FWCI
38.64
Type
conference paper
Language
en
Open access
green

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CoChat. (2026). Citation check: Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor. https://app.cochat.ai/papers/10.1109/robot.2005.1570447
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Bouabdallah, S., & Siegwart, R. (2006). Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor. Proceedings of the 2005 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/robot.2005.1570447

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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).

Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.