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Title: Nonlinear Modeling and Lyapunov Stability Based Controller Design of a Quadrotor UAV
Authors: Karahan, M.
Kasnakoğlu, C.
Keywords: controller design
Lyapunov stability
nonlinear modeling
unmanned aerial vehicle
Aircraft control
Altitude control
Fire extinguishers
Mineral exploration
Nonlinear systems
Robust control
Uncertainty analysis
Unmanned aerial vehicles (UAV)
White noise
Aerial vehicle
Controller designs
Hardware technology
Lyapunov stability
Model stability
Non-linear modelling
Quad rotors
Quadrotor unmanned aerial vehicles
Unmanned aerial vehicle
Issue Date: 2022
Publisher: Institute of Electrical and Electronics Engineers Inc.
Abstract: Advances in information technology and hardware technology have led to the development of the capabilities of unmanned aerial vehicles (UAV). Quadrotors are used in areas such as fire fighting, search and rescue, first aid kit delivery, surveillance, mapping, mineral exploration, agricultural spraying, cargo transportation, and defense industry. In order for quadrotor unmanned aerial vehicles to perform these sensitive tasks, it is important to have a robust controller design. Robust control of unmanned aerial vehicles is an important issue that many researchers have been working on in recent years. In this work, nonlinear modeling of a quadrotor is performed. A Lyapunov stability-based robust controller has been realized to control altitude and attitude. Simulations were made under normal situations, uncertain parameters and Gaussian white noise. Rise time, overshoot and settling time values were examined under 3 different conditions and the results were compared. The simulations have proven the robustness of the designed controller under specified conditions. © 2022 IEEE.
Description: 3rd International Informatics and Software Engineering Conference, IISEC 2022 -- 15 December 2022 through 16 December 2022 -- 185735
ISBN: 9781665459952
Appears in Collections:Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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