Attitude control of a quadrotor

Dikmen, İsmail Can; Arısoy, Ahmet; Temeltaş, Hakan

doi:10.1109/rast.2009.5158286

Cited by 93 publications

(39 citation statements)

References 3 publications

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“…The linear controllers were very sensitive to its parameter and even small changes in the parameterisation could lead to an unstable response. To solve the stabilisation problem of quadrotor, different linearisation control algorithms [4][5][6][7] have been proposed. These control techniques are restricted to control the certain condition like the hover flight condition.…”

Section: Linear Quadratic Regulator (Lqr) Control Techniquementioning

confidence: 99%

Tracking Control Design for Quadrotor Unmanned Aerial Vehicle

Nadda

Swarup

2017

Def. Sc. Jl.

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The model of a quadrotor unmanned aerial vehicle (UAV) is nonlinear and dynamically unstable. A flight controller design is proposed on the basis of Lyapunov stability theory which guarantees that all the states remain and reach on the sliding surfaces. The control strategy uses sliding mode with a backstepping control to perform the position and attitude tracking control. This proposed controller is simple and effectively enhance the performance of quadrotor UAV. In order to demonstrate the robustness of the proposed control method, White Gaussian Noise and aerodynamic moment disturbances are taken into account. The performance of the nonlinear control method is evaluated by comparing the performance with developed linear quadratic regulator and existing backstepping control technique and proportional-integral-derivative from the literature. The comparative performance results demonstrate the superiority and effectiveness of the proposed control strategy for the quadrotor UAV.

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Section: Linear Quadratic Regulator (Lqr) Control Techniquementioning

confidence: 99%

Tracking Control Design for Quadrotor Unmanned Aerial Vehicle

Nadda

Swarup

2017

Def. Sc. Jl.

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“…In order to ensure stability in hover flight PI/PID 25, 26 , Sliding Mode 27 and Backstepping 27 methods are examined. Although sliding mode method gives better solutions 27 , the PI/PID control method is chosen because of the ease of modeling and coding. In the first control study, pitch and yaw angles have been tried to control via directly RPM changes with a single-control loop whose diagram has been given in Fig.…”

Section: Hover Flight Stability Investigation: Symmetric Casementioning

confidence: 99%

Design and Flight Test Study of a VTOL UAV

Öznalbant

Kavsaoğlu

2015

53rd AIAA Aerospace Sciences Meeting

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The aim of this paper is to present the ongoing studies about design and fight testing of a fixed wing UAV which is able to take-off and land vertically. The UAV concept discussed in this study has three propeller engines. Two of them are ducted propellers and placed at each wing tips. The third engine is placed on the tail boom. The ducted propellers can rotate up to ninety degrees around the wing axis. The aircraft, which is planned to be built at the end of this study, will be able to take-off vertically, perform transition to conventional flight and land vertically. The aircraft will also have capability of conventional take-off, cruise flight and landing. In this study, the design considerations of the aircraft in terms of balance and stability ha been examined. The equations of motion of the aircraft have been modelled with nonlinear approach, and the hover and transition flight attitudes have been simulated via numerical calculations. It has been showed that the aircraft has an inherent unstable behavior during hover flight. Implementation of a Proportional and Integral (PI) control methodology in to the simulation provided artificial stability for both longitudinal and lateral motions. The transition flight equations have also been modelled and solved for open loop and closed loop control approaches. The rear motor thrust variations during tilting for both control approaches have been compared. A control algorithm which is implemented into a microcontroller onboard, has been developed for experimental studies. An indoor and an outdoor low cost test frames have been constructed. A single-closed loop and nested (cascade) closed loop control strategies have been applied to the test frames and artificial stability is achievedduring hover flight experimentally. The simulation results of hover and transition flights are presented in this article. The current status and results of the hover flight experiments are also summarized. The transition and cruise flight studies are planned as future work. Nomenclature AC = aircraft VTOL = vertical take-off and landing EOM = equation of motion = mass cg = center of gravity np = neutral point , , Z = components of resultant external force acting on aircraft , , = components of resultant external moment acting on aircraft , , = scalar components of velocity vector in body axis , , = scalar components of angular velocity vector in body axis , , = Euler angles , ,

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“…By the geometric center of the construction we understand the point of intersection of center lines of the arm. These models allow implementing the regulator by on-line methods [1], [6][7][8][9].…”

Section: Introductionmentioning

confidence: 99%

“…Quadrocopters control most commonly uses the following: PD/PID -regulators [3], [6], [7], [11], [12], LQR [4], [5], model predictive control [6], [9], backstepping control [7], [8], sliding mode control [7] and inverse control [5], [7], [13]. In this paper, the methods are chosen to control the synthesis of linearquadratic regulator (LQR method), and the method of inverse dynamics.…”

Section: Introductionmentioning

confidence: 99%