Attitude control of quadrotor in consideration of the effects of a pole based on limited pole placement

Yasunori Sugawara, Akira Shimada

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

This paper introduces an attitude control technique for a quadrotor aircraft. Considering that the non-linear characteristics of the aircraft makes it difficult to stabilize, a quadrotor controlled with an adaptive algorithm. Accordingly, we proposed a quadrotor application with backstepping based on the Lyapunov function. Furthermore, we designed a separate actuator control to be mounted on the aircraft for the control of the quadrotor. This approach is often used in industrial equipments. In particular, the limited pole placement (LPP) method is applied to design the controller considering the characteristics of the actuator. The representative simulation results are presented and discussed.

Original languageEnglish
Pages (from-to)827-835
Number of pages9
JournalIEEJ Transactions on Industry Applications
Volume135
Issue number8
DOIs
Publication statusPublished - 2015 Aug 1

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Keywords

  • Actuator
  • Attitude control
  • Helicopter
  • LPP (limited pole placement)
  • Non-linear control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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