Stabilization and trajectory tracking control for underactuated quadrotor helicopter subject to wind-gust disturbance
The control of quadrotor helicopter has been a great challenge for control engineers and researchers since quadrotor is an underactuated and a highly unstable nonlinear system. In this paper, the dynamic model of quadrotor has been derived and a so-called robust optimal backstepping control (ROBC) i...
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| Format: | Article |
| Language: | English |
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Springer India
2015
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| Online Access: | http://eprints.utm.my/56064/1/MohdAriffananMohdBasri2015_StabilizationandTrajectoryTrackingControlforUnderacturedQuadrotor.pdf |
| _version_ | 1796860314970488832 |
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| author | Mohd. Basri, Mohd. Ariffanan Husain, Abdul Rashid Danapalasingam, Kumeresan A. |
| author_facet | Mohd. Basri, Mohd. Ariffanan Husain, Abdul Rashid Danapalasingam, Kumeresan A. |
| author_sort | Mohd. Basri, Mohd. Ariffanan |
| collection | ePrints |
| description | The control of quadrotor helicopter has been a great challenge for control engineers and researchers since quadrotor is an underactuated and a highly unstable nonlinear system. In this paper, the dynamic model of quadrotor has been derived and a so-called robust optimal backstepping control (ROBC) is designed to address its stabilization and trajectory tracking problem in the existence of external disturbances. The robust controller is achieved by incorporating a prior designed optimal backstepping control (OBC) with a switching function. The control law design utilizes the switching function in order to attenuate the effects caused by external disturbances. In order to eliminate the chattering phenomenon, the sign function is replaced by the saturation function. A new heuristic algorithm namely Gravitational Search Algorithm (GSA) has been employed in designing the OBC. The proposed method is evaluated on a quadrotor simulation environment to demonstrate the effectiveness and merits of the theoretical development. Simulation results show that the proposed ROBC scheme can achieve favorable control performances compared to the OBC for autonomous quadrotor helicopter in the presence of external disturbances. |
| first_indexed | 2024-03-05T19:39:32Z |
| format | Article |
| id | utm.eprints-56064 |
| institution | Universiti Teknologi Malaysia - ePrints |
| language | English |
| last_indexed | 2024-03-05T19:39:32Z |
| publishDate | 2015 |
| publisher | Springer India |
| record_format | dspace |
| spelling | utm.eprints-560642016-11-15T07:20:22Z http://eprints.utm.my/56064/ Stabilization and trajectory tracking control for underactuated quadrotor helicopter subject to wind-gust disturbance Mohd. Basri, Mohd. Ariffanan Husain, Abdul Rashid Danapalasingam, Kumeresan A. TK Electrical engineering. Electronics Nuclear engineering The control of quadrotor helicopter has been a great challenge for control engineers and researchers since quadrotor is an underactuated and a highly unstable nonlinear system. In this paper, the dynamic model of quadrotor has been derived and a so-called robust optimal backstepping control (ROBC) is designed to address its stabilization and trajectory tracking problem in the existence of external disturbances. The robust controller is achieved by incorporating a prior designed optimal backstepping control (OBC) with a switching function. The control law design utilizes the switching function in order to attenuate the effects caused by external disturbances. In order to eliminate the chattering phenomenon, the sign function is replaced by the saturation function. A new heuristic algorithm namely Gravitational Search Algorithm (GSA) has been employed in designing the OBC. The proposed method is evaluated on a quadrotor simulation environment to demonstrate the effectiveness and merits of the theoretical development. Simulation results show that the proposed ROBC scheme can achieve favorable control performances compared to the OBC for autonomous quadrotor helicopter in the presence of external disturbances. Springer India 2015-08-01 Article PeerReviewed application/pdf en http://eprints.utm.my/56064/1/MohdAriffananMohdBasri2015_StabilizationandTrajectoryTrackingControlforUnderacturedQuadrotor.pdf Mohd. Basri, Mohd. Ariffanan and Husain, Abdul Rashid and Danapalasingam, Kumeresan A. (2015) Stabilization and trajectory tracking control for underactuated quadrotor helicopter subject to wind-gust disturbance. Sadhana - Academy Proceedings in Engineering Sciences, 40 (5). pp. 1531-1553. ISSN 0256-2499 http://dx.doi.org/10.1007/s12046-015-0384-4 DOI:10.1007/s12046-015-0384-4 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Mohd. Basri, Mohd. Ariffanan Husain, Abdul Rashid Danapalasingam, Kumeresan A. Stabilization and trajectory tracking control for underactuated quadrotor helicopter subject to wind-gust disturbance |
| title | Stabilization and trajectory tracking control for underactuated quadrotor helicopter subject to wind-gust disturbance |
| title_full | Stabilization and trajectory tracking control for underactuated quadrotor helicopter subject to wind-gust disturbance |
| title_fullStr | Stabilization and trajectory tracking control for underactuated quadrotor helicopter subject to wind-gust disturbance |
| title_full_unstemmed | Stabilization and trajectory tracking control for underactuated quadrotor helicopter subject to wind-gust disturbance |
| title_short | Stabilization and trajectory tracking control for underactuated quadrotor helicopter subject to wind-gust disturbance |
| title_sort | stabilization and trajectory tracking control for underactuated quadrotor helicopter subject to wind gust disturbance |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://eprints.utm.my/56064/1/MohdAriffananMohdBasri2015_StabilizationandTrajectoryTrackingControlforUnderacturedQuadrotor.pdf |
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