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...

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Main Authors:	Abas, Norafizah, Akmeliawati, Rini, Ibrahim, Zulkiflie, Rashid, M. Zamzuri A., Samsudin, N. Hazahsha
Format:	Article
Language:	English
Published:	Trans Tech Publications Ltd., Switzerland 2013
Subjects:	TJ212 Control engineering
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

id	iium-42120
recordtype	eprints
spelling	iium-421202015-03-04T00:59:34Z http://irep.iium.edu.my/42120/ Design of auto-stabilization control technique for a quadrotor system Abas, Norafizah Akmeliawati, Rini Ibrahim, Zulkiflie Rashid, M. Zamzuri A. Samsudin, N. Hazahsha TJ212 Control engineering 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. Trans Tech Publications Ltd., Switzerland 2013 Article PeerReviewed application/pdf en http://irep.iium.edu.my/42120/1/AMM.313-314.559.pdf Abas, Norafizah and Akmeliawati, Rini and Ibrahim, Zulkiflie and Rashid, M. Zamzuri A. and Samsudin, N. Hazahsha (2013) Design of auto-stabilization control technique for a quadrotor system. Applied Mechanics and Materials, 313-14. pp. 559-564. ISSN 1660-9336 http://dx.doi.org/10.4028/www.scientific.net/AMM.313-314.559 10.4028/www.scientific.net/AMM.313-314.559
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TJ212 Control engineering
spellingShingle	TJ212 Control engineering Abas, Norafizah Akmeliawati, Rini Ibrahim, Zulkiflie Rashid, M. Zamzuri A. Samsudin, N. Hazahsha Design of auto-stabilization control technique for a quadrotor system
description	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.
format	Article
author	Abas, Norafizah Akmeliawati, Rini Ibrahim, Zulkiflie Rashid, M. Zamzuri A. Samsudin, N. Hazahsha
author_facet	Abas, Norafizah Akmeliawati, Rini Ibrahim, Zulkiflie Rashid, M. Zamzuri A. Samsudin, N. Hazahsha
author_sort	Abas, Norafizah
title	Design of auto-stabilization control technique for a quadrotor system
title_short	Design of auto-stabilization control technique for a quadrotor system
title_full	Design of auto-stabilization control technique for a quadrotor system
title_fullStr	Design of auto-stabilization control technique for a quadrotor system
title_full_unstemmed	Design of auto-stabilization control technique for a quadrotor system
title_sort	design of auto-stabilization control technique for a quadrotor system
publisher	Trans Tech Publications Ltd., Switzerland
publishDate	2013
url	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
first_indexed	2023-09-18T21:00:06Z
last_indexed	2023-09-18T21:00:06Z
_version_	1777410565947260928

Design of auto-stabilization control technique for a quadrotor system

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