Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.11851/6878
Title: IMPROVING QUADROTOR 3-AXES STABILIZATION RESULTS USING EMPIRICAL RESULTS AND SYSTEM IDENTIFICATION
Authors: Elbir, Övünç
Batmaz, Anıl Ufuk
Kasnakoğlu, Coşku
Keywords: linear estimation
aerial vehicles
quadrotor
UAV
four rotor helicopter
vehicle control
Ardupilot
Issue Date: 2013
Publisher: IEEE
Source: 9th Asian Control Conference (ASCC) -- JUN 23-26, 2013 -- Istanbul, TURKEY
Series/Report no.: Asian Control Conference ASCC
Abstract: In current literature, Unmanned Aerial Vehicles (UAVs), especially quadrotors, is one of the hot topics of study which has numerous applications. This paper focuses on modeling the quadrotor in order to improve the empirical results. The procedure consists of four stages: 1) Experimental determination of controller coefficients, 2) Data collection, 3) System identification, 4) Controller redesign. After these stages, it is observed that the system is capable of stabilize on the roll, pitch and yaw axes. Coefficient tuning on the identified model noticeably improves the settling time and steady state oscillation amplitude.
URI: https://hdl.handle.net/20.500.11851/6878
ISBN: 978-1-4673-5769-2; 978-1-4673-5767-8
ISSN: 2072-5639
Appears in Collections:Elektrik ve Elektronik Mühendisliği Bölümü / Department of Electrical & Electronics Engineering
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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