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Adaptive feedback linearization controller for stabilization of Quadrotor UAV

Due to the various applications of the quadrotor unmanned aerial vehicle (UAV) systems increase daily, the researchers recently granted it considerable attention. In this manuscript, the mathematical model of the quadrotor UAV has been presented. The feedback linearization (FBL) technique is impleme...

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Main Authors: Eltayeb, A., Rahmat, M. F., Basri, M. A. M.
Format: Article
Published: Penerbit UTHM 2020
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/93556/
http://dx.doi.org/10.30880/ijie.00.00.0000.00.0000
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spelling my.utm.935562021-11-30T08:21:26Z http://eprints.utm.my/id/eprint/93556/ Adaptive feedback linearization controller for stabilization of Quadrotor UAV Eltayeb, A. Rahmat, M. F. Basri, M. A. M. TK Electrical engineering. Electronics Nuclear engineering Due to the various applications of the quadrotor unmanned aerial vehicle (UAV) systems increase daily, the researchers recently granted it considerable attention. In this manuscript, the mathematical model of the quadrotor UAV has been presented. The feedback linearization (FBL) technique is implemented to linearize the attitude and altitude dynamic equations of the quadrotor UAV. The proportional-integral-derivative (PID) controller is designed to the obtained linearized model (attitude and altitude subsystems). The quadrotor UAV that used for outdoor applications is influenced by the wind guest disturbances and parameter uncertainties, which result in the deterioration of the PID controller performance, and gain re-tuning is required. Therefore, for a robust performance against the wind disturbance and the parameter uncertainties, the adaptive feedback linearization (AFBL) is proposed and implemented to stabilize the quadrotor attitude and altitude subsystems. The parameter uncertainties have been adaptively estimated based on the Lyapunov stability function, which was able to cancel the quadrotor system uncertainties. The proposed controller has been evaluated by simulation Matlab/Simulink and provided better performance against parameter uncertainties and wind guest disturbances, where the error in the attitude and altitude have been reduced about % 82 and % 53, respectively, compared to the conventional exact FBL controller. Penerbit UTHM 2020 Article PeerReviewed Eltayeb, A. and Rahmat, M. F. and Basri, M. A. M. (2020) Adaptive feedback linearization controller for stabilization of Quadrotor UAV. International Journal of Integrated Engineering, 12 (4). ISSN 2229-838X http://dx.doi.org/10.30880/ijie.00.00.0000.00.0000 DOI: 10.30880/ijie.00.00.0000.00.0000
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Eltayeb, A.
Rahmat, M. F.
Basri, M. A. M.
Adaptive feedback linearization controller for stabilization of Quadrotor UAV
description Due to the various applications of the quadrotor unmanned aerial vehicle (UAV) systems increase daily, the researchers recently granted it considerable attention. In this manuscript, the mathematical model of the quadrotor UAV has been presented. The feedback linearization (FBL) technique is implemented to linearize the attitude and altitude dynamic equations of the quadrotor UAV. The proportional-integral-derivative (PID) controller is designed to the obtained linearized model (attitude and altitude subsystems). The quadrotor UAV that used for outdoor applications is influenced by the wind guest disturbances and parameter uncertainties, which result in the deterioration of the PID controller performance, and gain re-tuning is required. Therefore, for a robust performance against the wind disturbance and the parameter uncertainties, the adaptive feedback linearization (AFBL) is proposed and implemented to stabilize the quadrotor attitude and altitude subsystems. The parameter uncertainties have been adaptively estimated based on the Lyapunov stability function, which was able to cancel the quadrotor system uncertainties. The proposed controller has been evaluated by simulation Matlab/Simulink and provided better performance against parameter uncertainties and wind guest disturbances, where the error in the attitude and altitude have been reduced about % 82 and % 53, respectively, compared to the conventional exact FBL controller.
format Article
author Eltayeb, A.
Rahmat, M. F.
Basri, M. A. M.
author_facet Eltayeb, A.
Rahmat, M. F.
Basri, M. A. M.
author_sort Eltayeb, A.
title Adaptive feedback linearization controller for stabilization of Quadrotor UAV
title_short Adaptive feedback linearization controller for stabilization of Quadrotor UAV
title_full Adaptive feedback linearization controller for stabilization of Quadrotor UAV
title_fullStr Adaptive feedback linearization controller for stabilization of Quadrotor UAV
title_full_unstemmed Adaptive feedback linearization controller for stabilization of Quadrotor UAV
title_sort adaptive feedback linearization controller for stabilization of quadrotor uav
publisher Penerbit UTHM
publishDate 2020
url http://eprints.utm.my/id/eprint/93556/
http://dx.doi.org/10.30880/ijie.00.00.0000.00.0000
_version_ 1718926085385617408
score 13.211869

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