{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/attitude-optimal-backstepping-controller","title":"Attitude Optimal Backstepping Controller Based Quaternion for a UAV","arxiv_id":null,"date":"2016-03-03","proceeding":"Advanced Control of Complex Dynamical Systems with Applications 2016 3","authors":["Kaddouri Djamel"],"abstract":"A hierarchical controller design based on nonlinear  theory and backstepping technique is developed for a nonlinear and coupled dynamic attitude system using conventional quaternion based method. The derived controller combines the attractive features of  optimal controller and the advantages of the backstepping technique leading to a control law which avoids winding phenomena. Performance issues of the controller are illustrated in a simulation study made for a four-rotor vertical take-off and landing (VTOL) aerial robot prototype known as the quadrotor aircraft.","url_abs":"https://www.hindawi.com/journals/mpe/2016/8573235/","url_pdf":"https://www.hindawi.com/journals/mpe/2016/8573235/","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"attitude-optimal-backstepping-controller","repo_url":"https://github.com/avionicscode/Attitude-Optimal-Backstepping-Controller-Based-Quaternion-for-a-UAV","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}