Stabilization and altitude tracking of quadrotor using backstepping controller with a saturation compensator
Researchers and control engineers have long found controlling quadrotor helicopters to be quite difficult. Due to the significant nonlinearities of this type of helicopter, numerous algorithms have been devised to control it. The dynamic model of the quadrotor has been developed in this article, and...
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| Main Authors: | , , , , |
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| Format: | Conference or Workshop Item |
| Language: | en |
| Published: |
2024
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| Online Access: | http://eprints.utem.edu.my/id/eprint/28754/1/Stabilization%20and%20Altitude%20Tracking%20of%20Quadrotor%20using%20Backstepping%20Controller%20with%20a%20Saturation%20Compensator.pdf http://eprints.utem.edu.my/id/eprint/28754/ https://www.springerprofessional.de/en/stabilization-and-altitude-tracking-of-quadrotor-using-backstepp/26175546 |
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| Summary: | Researchers and control engineers have long found controlling quadrotor helicopters to be quite difficult. Due to the significant nonlinearities of this type of helicopter, numerous algorithms have been devised to control it. The dynamic model of the quadrotor has been developed in this article, and a sturdy controller has been created to handle the issue of altitude tracking and stabilization in the presence of external disturbances. Backstepping, which contains switching function as part of the controller, allows for the development of a robust control system. The switching function is utilized in the control law design to lessen the effects of external disturbances. To demonstrate the value and efficacy of the theoretical development, the proposed method is assessed in a quadrotor simulation environment. The results of the simulations demonstrate that even in the face of external perturbations, the suggested control system may produce favourable control performances for an autonomous quadrotor helicopter. |
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