Integrated vector field and backstepping control for quadcopters
Arthur H. D. Nunes,Guilherme V. Raffo,Luciano C. A. Pimenta,Arthur H. D. Nunes,Guilherme V. Raffo,Luciano C. A. Pimenta
In this work, we present an Integrated Guidance and Controller (IGC) scheme to drive quadcopters in path-following tasks with obstacle avoidance and constant uncertainty rejection. This scheme is based on the combination of a time-varying artificial vector field and Backstepping with integral action control. The vector field switches between two behaviors: (i) path-following; and (ii) obstacle cir...
