Dynamic feedback controller of Euler angles and wind parameters estimation for a quadrotor unmanned aerial vehicle

Mokhtari, A.; Benallègue, A.

doi:10.1109/robot.2004.1307414

Cited by 164 publications

(85 citation statements)

References 12 publications

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“…The dynamic model of a quadrotor is essentially a simplified form of helicopter dynamic that exhibits the basic problems in- cluding under-actuation, strong coupling, multi input/ multi output and unknown nonlinearities [9]. The automatic control of a quadrotor UAV is not a straight on mainly due to its under-actuated properties [10] and it is difficult to control all these six outputs with only four control inputs. Moreover, uncertainties associate with dynamic model also bring more challenge for control design [11].…”

Section: A Quadrotor Configurationmentioning

confidence: 99%

Attitude Control of a Quadrotor with Optimized PID Controller

Bolandi¹,

Rezaei²,

Mohsenipour³

et al. 2013

ICA

161

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A new approach to control, stabilization and disturbance rejection of attitude subsystem of quadrotor is presented in this article. Analytical method is used to tune conventional structure of PID controller. SISO approach is implemented for control structure to achieve desired objectives. The performance of the designed control structure is evaluated through time domain factors such as overshoot, settling time and integral error index, and robustness. A comparison is done between designed controller and back-step controller applied to main model of quadrotor. The results of simulation show the effectiveness of designed control scheme.

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Section: A Quadrotor Configurationmentioning

confidence: 99%

Attitude Control of a Quadrotor with Optimized PID Controller

Bolandi¹,

Rezaei²,

Mohsenipour³

et al. 2013

ICA

161

View full text Add to dashboard Cite

show abstract

“…Hamel et al (2002) studied the take-off and landing procedures by applying Lyapunov functions. Mokhtari and Benallegue (2004) developed a non-linear dynamic model based on Euler angles. When these angles are associated to Lyapunov functions, it is possible to control the helicopter roll, pitch, and yaw angles.…”

Section: Quadrotorsmentioning

confidence: 99%

In-flight collision avoidance controller based only on OS4 embedded sensors

Becker¹,

Sampaio²,

Bouabdallah³

et al. 2012

J. Braz. Soc. Mech. Sci. & Eng.

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“…In (Rabhi et al, 2011) an algorithm based on robust fuzzy logic controller to ensure stabilization of the quadrotor is proposed. Also, other control methods are performed to control the quadrotor parameters, For instance, Lyapunov theory Salazar-Cruz et al, 2005), linear quadratic regulator (LQR) , dynamic feedback (Mokhtari and Benallegue, 2004;Mistler et al, 2001), neural networks (Tarbouchi et al, 2004), reinforcement learning (Waslander et al, 2005), and visual feedback (Guenard et al, 2008;Hamel et al, 2005).…”

Section: Introductionmentioning

confidence: 99%

Tracking control of an unmanned aerial vehicle using cascade configuration of fuzzy logic controllers in presence of windflaw

Zare

Zakeri

Sadeghi

et al. 2016

Int. j. adv. appl. sci

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In this study, an unmanned aerial vehicle (UAV), quadrotor particularly, with six degree of freedom (6-DOF) is modeled and a novel arrangement of fuzzy logic controller (FLC) are designed to control quadrotor's attitude and altitude. The UAVs are high nonlinear in terms of dynamic equations and are in class of under-actuated systems with six degree of freedom and four propeller's speed as inputs. So, designing an appropriate controller is the main challenge in UAV's applications. The controller architectures is composed of three FLCs. A MIMO FLC is implemented to control angles and altitude which is fed by two first output controllers, namely desired roll and pitch angles. Then, an octagonal helix path is constructed in such a way that an octagonal schema is generated in X-Y plane and is developed in vertical direction. By applying the windflaw to the system as a disturbance, which is blew in three directions, namely x, y, and z, the performance of designed controller is investigated. Finally, results are presented to show the controller performance for tracking purpose in presence of a wind as disturbance.

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Dynamic feedback controller of Euler angles and wind parameters estimation for a quadrotor unmanned aerial vehicle

Cited by 164 publications

References 12 publications

Attitude Control of a Quadrotor with Optimized PID Controller

Attitude Control of a Quadrotor with Optimized PID Controller

In-flight collision avoidance controller based only on OS4 embedded sensors

Tracking control of an unmanned aerial vehicle using cascade configuration of fuzzy logic controllers in presence of windflaw

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