Nonlinear Modeling and Robust Control of a Quadrotor UAV under Uncertain Parameters and White Gaussian Noise

Karahan, Mehmet; Akay, A. N.; Kasnakoğlu, Coşku

doi:10.1109/ismsit52890.2021.9604685

Cited by 7 publications

(1 citation statement)

References 11 publications

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“…The helicopter is a typical single-rotor UAV, which counteracts the main rotor torque with the torque generated by the tail rotor. The four-rotor aircraft controls the lift and torque acting on the airframe by relying on the different rotational speeds of the four rotors to control the movement of the four rotors and simultaneously realizes the role of the balancing torque (Jun et al, 2018;Karahan et al, 2021). Given this feature, the four-rotor aircraft is more accessible to achieve the goal of miniaturization and is more lightweight than the helicopter.…”

Section: Principle Of Motion Of the Quadrotor Uavmentioning

confidence: 99%

Study on UAV Based on Fused Filament Fabrication

2022

IJEC

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Air Unmanned Aerial Vehicles (UAVs) have the characteristics of simple structure and convenient carrying, while quadrotor UAVs have better manoeuvrability, can achieve fixed-point hover, and have vertical takeoff and landing capabilities. Additive Manufacturing (AM) is also often referred to as 3D printing. In the past ten years, AM technology has received extensive attention. Among the seven categories of AM technologies released by the American Society for Testing and Materials, Fused Filament Fabrication (FFF) is one of the most widely used and essential processing technologies in additive manufacturing. It mainly manufactures models by extruding molten wire (such as plastics, resins, composites, etc.). First, consider the additive manufacturing of the quadrotor aerial UAV entirely through fused filament fabrication, and control the UAV's flexibility by adjusting the filling material's parameter during the additive manufacturing process. However, the increased flexibility makes it difficult to control the UAV, and the structural, aerodynamic and aeroelastic effects must be further explored.

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Section: Principle Of Motion Of the Quadrotor Uavmentioning

confidence: 99%

Study on UAV Based on Fused Filament Fabrication

2022

IJEC

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Rendezvous Control of UAVs with Disturbance Compensation

Ura

Uchiyama

Masuda

2022

2022 Australian &Amp; New Zealand Control Conference (ANZCC)

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Nonlinear Modeling and Robust Backstepping Control of a Quadrotor Unmanned Aerial Vehicle

Karahan

Kasnakoğlu

2022

2022 5th International Conference of Computer and Informatics Engineering (IC2IE)

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Advances in software and hardware technologies have facilitated the production of quadrotor unmanned aerial vehicles (UAVs). Quadrotor UAVs are used in important missions such as search and rescue, counter terrorism, firefighting, surveillance and cargo transportation. While performing these tasks, quadrotors must operate in noisy environments. Therefore, a robust controller design that can control the altitude and attitude of the quadrotor in noisy environments is of great importance. While many researchers focus only on white Gaussian noise in their studies, all colored noises should be considered during quadrotor's operation. In this study, it is aimed to design a robust controller that is resistant to all colored noises. Firstly, a nonlinear model of the quadrotor was created with MATLAB. Then, a backstepping control design that is resistant to colored noises was realized. The designed backstepping controller was tested under Gaussian white noise, pink noise, brown noise, blue noise and purple noise. PID and Lyapunovbased controller designs were also carried out and their time responses (rise time, overshoot, settling time) were compared with those of backstepping controller. When the values obtained was examined, it was proven that the proposed backstepping controller had the least overshoot and shortest settling time under all noise types.

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Nonlinear Modeling and Robust Control of a Quadrotor UAV under Uncertain Parameters and White Gaussian Noise

Cited by 7 publications

References 11 publications

Study on UAV Based on Fused Filament Fabrication

Study on UAV Based on Fused Filament Fabrication

Rendezvous Control of UAVs with Disturbance Compensation

Nonlinear Modeling and Robust Backstepping Control of a Quadrotor Unmanned Aerial Vehicle

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