Design of auto-stabilization control technique for a quadrotor system
This paper presents the design of auto-stabilization control technique for a quadrotor system. Aquadrotor is a highly nonlinear and has to be stabilized by a suitable control technique. Therefore, the main focus of this research is to design an appropriate control algorithm that able to auto-stab...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Trans Tech Publications Ltd., Switzerland
2013
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/42120/ http://irep.iium.edu.my/42120/ http://irep.iium.edu.my/42120/ http://irep.iium.edu.my/42120/1/AMM.313-314.559.pdf |
| Summary: | This paper presents the design of auto-stabilization control technique for a quadrotor
system. Aquadrotor is a highly nonlinear and has to be stabilized by a suitable control technique.
Therefore, the main focus of this research is to design an appropriate control algorithm that able to
auto-stabilize the quadrotor at hover. The dynamic modeling of the quadrotor is described by sets of
equations of motion that are derived based on the Newton-Euler formalism with the implementation
of UKF for parameter identification and state estimation. The control strategy adopted includes
feedback linearization coupled with Proportional-Derivative (PD) controller for the translational
subsystem and backstepping based Proportional-Integral-Derivative (PID) controller for the
rotational subsystem. It is developed in MATLAB/Simulink platform and is validated via real-time
implementation. Both controllers give satisfactory simulation results, where acceptable peak of
overshoot and small steady state errors are achieved. Experimentally, the throttle is controlled in
manual mode while attitude angles are stabilized automatically. The simulation and experimental
results show that the proposed controller is able to effectively stabillized the quadrotor. |
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