Attitude Control of Quadrotor in Consideration of the Effects of a Pole Based on Limited Pole Placement

Yasunori Sugawara, Akira Shimada

Research output: Research - peer-reviewArticle

Abstract

This paper introduces an attitude control technique for a quadrotor aircraft. Considering that the nonlinear 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 equipment. 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.

LanguageEnglish
Pages34-44
Number of pages11
JournalElectrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
Volume198
Issue number1
DOIs
StatePublished - 2017 Jan 1

Fingerprint

Attitude control
Poles
Aircraft
Actuators
Backstepping
Lyapunov functions
Adaptive algorithms
Controllers

Keywords

  • actuator
  • attitude control
  • Helicopter
  • LPP (limited pole placement)
  • nonlinear control

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering

Cite this

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AB - This paper introduces an attitude control technique for a quadrotor aircraft. Considering that the nonlinear 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 equipment. 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.

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