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Title: Nonlinear Modeling and Robust Backstepping Control of a Quadrotor Unmanned Aerial Vehicle
Authors: Karahan, M.
Kasnakoğlu, C.
Keywords: altitude control
attitude control
backstepping control
nonlinear systems
PID controller
robust control
unmanned aerial vehicle
Aircraft control
Altitude control
Electric control equipment
Proportional control systems
Three term control systems
Two term control systems
Unmanned aerial vehicles (UAV)
Aerial vehicle
Backstepping control
Backstepping controller
Non-linear modelling
Proportional-integral-derivatives controllers
Quad rotors
Quadrotor unmanned aerial vehicles
Unmanned aerial vehicle
Vertical landing
Robust control
Issue Date: 2022
Publisher: Institute of Electrical and Electronics Engineers Inc.
Abstract: Developments in information technology have enabled unmanned aerial vehicles to decrease in size, increase their maneuverability and gain vertical landing and take-off features. In this research, a nonlinear model of a quadrotor unmanned aerial vehicle was created using the MATLAB/Simulink program. A robust backstepping controller is designed to provide altitude and attitude control for this model. In order to prove the superiority of the backstepping controller, the results obtained with the classical Proportional Integral Derivative (PID) controller are compared with the performance of the backstepping controller. The rise time, overshoot and settling time values of the PID controller and the backstepping controller were compared. The results showed that the backstepping controller performed more successfully in controlling altitude and attitude angles. © 2022 IEEE.
Description: 5th IEEE International Conference on Computer and Informatics Engineering, IC2IE 2022 -- 13 September 2022 through 14 September 2022 -- 184967
ISBN: 9781665453387
Appears in Collections:Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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