HEIGHT AND ATTITUDE CONTROL OF A QUADROTOR UAV VIA DISCRETE-TIME BACKSTEPPING

Fatih ADIGÜZEL; Tarık Veli MUMCU

doi:https://doi.org/10.18038/estubtda.667664

Makale detayları

HEIGHT AND ATTITUDE CONTROL OF A QUADROTOR UAV VIA DISCRETE-TIME BACKSTEPPING

Yazarlar:

Fatih ADIGÜZEL | Tarık Veli MUMCU

Yayıncı:

Eskisehir Technical University

Ana Başlıklar:

Uygulamalı fizik

Dergi:

Eskişehir Technical University Journal of Science and Technology A - Applied Sciences and Engineering 2020 Vol.21 Issue 3, pp.396-406

Belge Tipi:

Makale

Yayın Tarihi:

9/2020

Belge Dili:

İngilizce

Document ID (Org No.):

2000416904

pISSN:

2667-4211

DOI:

https://doi.org/10.18038/estubtda.667664

Özet:

 

In this study, we focus on control of height and attitude of a quadrotor via a backstepping control method in discrete-time setting. Firstly, the mathematical model of the quadrotor unmanned aerial vehicle is introduced and the mathematical system equations are evaluated to discretize with the standard Euler discretization. Afterward, the designed backstepping control has been considered in one structure that derives the outputs of height and attitude subsystems to desired trajectories, respectively. Then, the proposed discrete-time backstepping controllers have individually shown the stability of the closed-loop system for z position and roll, pitch, yaw angle dynamics the sense of Lyapunov and by Barbalat’s lemma. In order to shown the effectiveness of the obtained controllers for height and attitude subsystems, computer simulation studies have been presented by being compared with the traditional control method PD and satisfactory results have been obtained.

Makale detayları

HEIGHT AND ATTITUDE CONTROL OF A QUADROTOR UAV VIA DISCRETE-TIME BACKSTEPPING

Yazarlar: Fatih ADIGÜZEL | Tarık Veli MUMCU

Yayıncı: Eskisehir Technical University

Ana Başlıklar: Uygulamalı fizik

Dergi: Eskişehir Technical University Journal of Science and Technology A - Applied Sciences and Engineering 2020 Vol.21 Issue 3, pp.396-406

Belge Tipi: Makale

Yayın Tarihi: 9/2020

Belge Dili: İngilizce

Document ID (Org No.): 2000416904

pISSN: 2667-4211

DOI: https://doi.org/10.18038/estubtda.667664

Sayı

Yazarlar:

Fatih ADIGÜZEL | Tarık Veli MUMCU

Yayıncı:

Eskisehir Technical University

Ana Başlıklar:

Uygulamalı fizik

Dergi:

Eskişehir Technical University Journal of Science and Technology A - Applied Sciences and Engineering 2020 Vol.21 Issue 3, pp.396-406

Belge Tipi:

Makale

Yayın Tarihi:

9/2020

Belge Dili:

İngilizce

Document ID (Org No.):

2000416904

pISSN:

2667-4211

DOI:

https://doi.org/10.18038/estubtda.667664