Simulation of backstepping-based nonlinear control for quadrotor helicopter
The control of quadrotor helicopter in a hover condition has always been a great challenge for control engineers and researchers. Various algorithms have been developed to control this type of helicopter due to its high nonlinearities. This paper presents the dynamic model of quadrotor helicopter to...
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| Format: | Article |
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ARQII Publication in Association with Malaysian Simulation Society
2018
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| _version_ | 1796863504238510080 |
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| author | Mohd. Basri, Mohd. Ariffanan Zainal Abidin, Mohamad Shukri Mohd. Subha, Nurul Adilla |
| author_facet | Mohd. Basri, Mohd. Ariffanan Zainal Abidin, Mohamad Shukri Mohd. Subha, Nurul Adilla |
| author_sort | Mohd. Basri, Mohd. Ariffanan |
| collection | ePrints |
| description | The control of quadrotor helicopter in a hover condition has always been a great challenge for control engineers and researchers. Various algorithms have been developed to control this type of helicopter due to its high nonlinearities. This paper presents the dynamic model of quadrotor helicopter together with backstepping-based nonlinear control design which stabilizes the system. In order to verify the feasibility of the proposed controller, extensive simulations are performed using Matlab Simulink software. Here, the proper method to configure the solver options of the model design to provide an efficient and accurate simulation performance is presented. Through simulation test by using the dynamic model of a four degree of freedom quadrotor helicopter, the proposed approach can effectively perform stabilization and trajectory tracking. Besides, the simulation results indicate that the proposed design techniques can stabilize the quadrotor helicopter with better performance as compared to the traditional control schemes. |
| first_indexed | 2024-03-05T20:27:45Z |
| format | Article |
| id | utm.eprints-82031 |
| institution | Universiti Teknologi Malaysia - ePrints |
| last_indexed | 2024-03-05T20:27:45Z |
| publishDate | 2018 |
| publisher | ARQII Publication in Association with Malaysian Simulation Society |
| record_format | dspace |
| spelling | utm.eprints-820312019-10-17T06:48:42Z http://eprints.utm.my/82031/ Simulation of backstepping-based nonlinear control for quadrotor helicopter Mohd. Basri, Mohd. Ariffanan Zainal Abidin, Mohamad Shukri Mohd. Subha, Nurul Adilla TK Electrical engineering. Electronics Nuclear engineering The control of quadrotor helicopter in a hover condition has always been a great challenge for control engineers and researchers. Various algorithms have been developed to control this type of helicopter due to its high nonlinearities. This paper presents the dynamic model of quadrotor helicopter together with backstepping-based nonlinear control design which stabilizes the system. In order to verify the feasibility of the proposed controller, extensive simulations are performed using Matlab Simulink software. Here, the proper method to configure the solver options of the model design to provide an efficient and accurate simulation performance is presented. Through simulation test by using the dynamic model of a four degree of freedom quadrotor helicopter, the proposed approach can effectively perform stabilization and trajectory tracking. Besides, the simulation results indicate that the proposed design techniques can stabilize the quadrotor helicopter with better performance as compared to the traditional control schemes. ARQII Publication in Association with Malaysian Simulation Society 2018 Article PeerReviewed Mohd. Basri, Mohd. Ariffanan and Zainal Abidin, Mohamad Shukri and Mohd. Subha, Nurul Adilla (2018) Simulation of backstepping-based nonlinear control for quadrotor helicopter. Applications Of Modelling And Simulation, 2 (1). pp. 34-40. ISSN 2600-8084 http://arqiipubl.com/ojs/index.php/AMS_Journal/article/view/19 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Mohd. Basri, Mohd. Ariffanan Zainal Abidin, Mohamad Shukri Mohd. Subha, Nurul Adilla Simulation of backstepping-based nonlinear control for quadrotor helicopter |
| title | Simulation of backstepping-based nonlinear control for quadrotor helicopter |
| title_full | Simulation of backstepping-based nonlinear control for quadrotor helicopter |
| title_fullStr | Simulation of backstepping-based nonlinear control for quadrotor helicopter |
| title_full_unstemmed | Simulation of backstepping-based nonlinear control for quadrotor helicopter |
| title_short | Simulation of backstepping-based nonlinear control for quadrotor helicopter |
| title_sort | simulation of backstepping based nonlinear control for quadrotor helicopter |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| work_keys_str_mv | AT mohdbasrimohdariffanan simulationofbacksteppingbasednonlinearcontrolforquadrotorhelicopter AT zainalabidinmohamadshukri simulationofbacksteppingbasednonlinearcontrolforquadrotorhelicopter AT mohdsubhanuruladilla simulationofbacksteppingbasednonlinearcontrolforquadrotorhelicopter |