Backstepping controller with intelligent parameters selection for stabilization of quadrotor helicopter
backstepping controller (IBC) is designed for the quadrotor altitude and attitude stabilization in the existence of external disturbances and measurement noise. The designed controller consists of a backstepping controller which can automatically select its parameters on-line by a fuzzy supervisory...
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| Format: | Article |
| Language: | English |
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Technological Education Institute of Kavala
2014
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| Online Access: | http://eprints.utm.my/51976/1/AbdulRashidHusain2014_BacksteppingControllerWithIntelligentParameters.pdf |
| _version_ | 1796859692967788544 |
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| author | Mohd. Basri, Mohd. Ariffanan Husain, Abdul Rashid Kumeresan A., Danapalasingam |
| author_facet | Mohd. Basri, Mohd. Ariffanan Husain, Abdul Rashid Kumeresan A., Danapalasingam |
| author_sort | Mohd. Basri, Mohd. Ariffanan |
| collection | ePrints |
| description | backstepping controller (IBC) is designed for the quadrotor altitude and attitude stabilization in the existence of external disturbances and measurement noise. The designed controller consists of a backstepping controller which can automatically select its parameters on-line by a fuzzy supervisory mechanism. The stability criterion for the stabilization of the quadrotor is proven by the Lyapunov theorem. Several numerical simulations using the dynamic model of a four degree of freedom (DOF) quadrotor helicopter show the effectiveness of the approach. Besides, the simulation results indicate that the proposed design techniques can stabilize the quadrotor helicopter with better performance than established linear design techniques. |
| first_indexed | 2024-03-05T19:30:59Z |
| format | Article |
| id | utm.eprints-51976 |
| institution | Universiti Teknologi Malaysia - ePrints |
| language | English |
| last_indexed | 2024-03-05T19:30:59Z |
| publishDate | 2014 |
| publisher | Technological Education Institute of Kavala |
| record_format | dspace |
| spelling | utm.eprints-519762018-08-29T07:57:21Z http://eprints.utm.my/51976/ Backstepping controller with intelligent parameters selection for stabilization of quadrotor helicopter Mohd. Basri, Mohd. Ariffanan Husain, Abdul Rashid Kumeresan A., Danapalasingam TK Electrical engineering. Electronics Nuclear engineering backstepping controller (IBC) is designed for the quadrotor altitude and attitude stabilization in the existence of external disturbances and measurement noise. The designed controller consists of a backstepping controller which can automatically select its parameters on-line by a fuzzy supervisory mechanism. The stability criterion for the stabilization of the quadrotor is proven by the Lyapunov theorem. Several numerical simulations using the dynamic model of a four degree of freedom (DOF) quadrotor helicopter show the effectiveness of the approach. Besides, the simulation results indicate that the proposed design techniques can stabilize the quadrotor helicopter with better performance than established linear design techniques. Technological Education Institute of Kavala 2014 Article PeerReviewed application/pdf en http://eprints.utm.my/51976/1/AbdulRashidHusain2014_BacksteppingControllerWithIntelligentParameters.pdf Mohd. Basri, Mohd. Ariffanan and Husain, Abdul Rashid and Kumeresan A., Danapalasingam (2014) Backstepping controller with intelligent parameters selection for stabilization of quadrotor helicopter. Journal of Engineering Science and Technology Review, 7 (2). pp. 66-74. ISSN 1791-9320 https://www.researchgate.net/publication/289430860 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Mohd. Basri, Mohd. Ariffanan Husain, Abdul Rashid Kumeresan A., Danapalasingam Backstepping controller with intelligent parameters selection for stabilization of quadrotor helicopter |
| title | Backstepping controller with intelligent parameters selection for stabilization of quadrotor helicopter |
| title_full | Backstepping controller with intelligent parameters selection for stabilization of quadrotor helicopter |
| title_fullStr | Backstepping controller with intelligent parameters selection for stabilization of quadrotor helicopter |
| title_full_unstemmed | Backstepping controller with intelligent parameters selection for stabilization of quadrotor helicopter |
| title_short | Backstepping controller with intelligent parameters selection for stabilization of quadrotor helicopter |
| title_sort | backstepping controller with intelligent parameters selection for stabilization of quadrotor helicopter |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://eprints.utm.my/51976/1/AbdulRashidHusain2014_BacksteppingControllerWithIntelligentParameters.pdf |
| work_keys_str_mv | AT mohdbasrimohdariffanan backsteppingcontrollerwithintelligentparametersselectionforstabilizationofquadrotorhelicopter AT husainabdulrashid backsteppingcontrollerwithintelligentparametersselectionforstabilizationofquadrotorhelicopter AT kumeresanadanapalasingam backsteppingcontrollerwithintelligentparametersselectionforstabilizationofquadrotorhelicopter |