Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.11851/11227
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dc.contributor.authorGunes, Uygar-
dc.contributor.authorSel, Artun-
dc.contributor.authorSel, Bilgehan-
dc.contributor.authorKasnakoğlu, Coşku-
dc.date.accessioned2024-04-06T08:09:28Z-
dc.date.available2024-04-06T08:09:28Z-
dc.date.issued2023-
dc.identifier.citationGunes, U., Sel, A., Sel, B., & Kasnakoglu, C. (2023). Dynamic Modeling and Trajectory Tracking of a Quadcopter via Linear and Backstepping Controller. In AIAA SCITECH 2023 Forum (p. 0492).-
dc.identifier.isbn9781624106996-
dc.identifier.urihttps://doi.org/10.2514/6.2023-0492-
dc.identifier.urihttps://hdl.handle.net/20.500.11851/11227-
dc.description.abstractIn this study, a navigation problem for a class of quadrotor system is considered. Decentralized control scheme is designed to navigate the system in the route that is given. Exploiting the dynamics of the plant the general control problem is decomposed into 3 different control design problems. The cascaded system is constructed as a result of this control scheme. Conventional linear controllers are designed for the regulation of the inner loops. For the outer loop, a backstepping controller is designed due to the nonlinearity of the dynamics. Outer loop controller produces reference signals for the middle loop meanwhile the inner loop is designed such that the disturbance effect of the thrust signal which is generated by the outer loop controller is mitigated. The designed control scheme is tested in 3 different flight scenarios using the MATLAB numerical simulation environment. Level flight, constant climb and Spiral trajectory mode of operations have been tested under the specified parametric uncertainties.en_US
dc.language.isoenen_US
dc.publisherAIAAen_US
dc.relation.ispartofAIAA SCITECH 2023 Forum 23-27 January 2023en_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectQuadcopteren_US
dc.subjectMATLABen_US
dc.subjectNumerical Simulationen_US
dc.subjectLevel Flighten_US
dc.subjectState Space Representationen_US
dc.subjectAngular Motionen_US
dc.subjectControl Algorithmen_US
dc.subjectMathematical Modelsen_US
dc.subjectAttitude Controlen_US
dc.subjectAerodynamic Forceen_US
dc.titleDynamic Modeling and Trajectory Tracking of a Quadcopter Via Linear and Backstepping Controlleren_US
dc.typeConference Objecten_US
dc.departmentTOBB ETU Electrical & Electronics Engineeringen_US
dc.identifier.startpage492en_US
dc.authorid0000-0002-9928-727X-
dc.identifier.scopus2-s2.0-85198615168en_US
dc.institutionauthorKasnakoğlu, Coşku-
dc.identifier.doi10.2514/6.2023-0492-
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
item.openairetypeConference Object-
item.languageiso639-1en-
item.grantfulltextnone-
item.fulltextNo Fulltext-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.cerifentitytypePublications-
crisitem.author.dept02.5. Department of Electrical and Electronics Engineering-
Appears in Collections:Elektrik ve Elektronik Mühendisliği Bölümü / Department of Electrical & Electronics Engineering
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
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