Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.11851/8649
Title: Nonlinear Modeling and Robust Control of a Quadrotor UAV under Uncertain Parameters and White Gaussian Noise
Authors: Karahan M.
Akay A.N.
Kasnakoğlu, Coşku
Keywords: altitude control
attitude control
modeling
nonlinear systems
parameter uncertainty
quadrotor
robust control
simulation
UAV
white Gaussian noise
Aircraft control
Altitude control
Antennas
Controllers
Gaussian distribution
Gaussian noise (electronic)
MATLAB
Nonlinear systems
Uncertainty analysis
Unmanned aerial vehicles (UAV)
White noise
Modeling
Non-linear modelling
Parameter uncertainty
Quad rotors
Quadrotor unmanned aerial vehicles
Simulation
Take off
Uncertain parameters
Vertical take-off and landings
White Gaussian Noise
Robust control
Issue Date: 2021
Publisher: Institute of Electrical and Electronics Engineers Inc.
Source: Karahan, M., Akay, A. N., & Kasnakoglu, C. (2021, October). Nonlinear Modeling and Robust Control of a Quadrotor UAV under Uncertain Parameters and White Gaussian Noise. In 2021 5th International Symposium on Multidisciplinary Studies and Innovative Technologies (ISMSIT) (pp. 252-256). IEEE.
Abstract: Latest progresses in sensors and information systems have accelerated the progress of unmanned aerial vehicles. Quadrotor unmanned aerial vehicles (UAVs) have the ability to take off and land vertically. Thanks to this feature, unlike conventional unmanned aerial vehicles, it does not need a long runway to take off. Its four propellers and vertical takeoff and landing feature give it the ability to hover and maneuver like helicopters. In this study, nonlinear modeling and robust controller design of a quadrotor UAV under parameter uncertainty and white Gaussian noise disturbance are explained. Nonlinear modeling of the Quadrotor UAV was done using MATLAB/Simulink. Altitude reference and attitude angles following capabilities of the quadrotor UAV have been tested with various simulations under ideal conditions, under uncertain parameters and under white Gaussian noise. The obtained results show that the robust controller can successfully track given references under normal conditions, under uncertain parameters and under noisy conditions. © 2021 IEEE.
Description: 5h International Symposium on Multidisciplinary Studies and Innovative Technologies, ISMSIT 2021 -- 21 October 2021 through 23 October 2021 -- -- 174473
URI: https://doi.org/10.1109/ISMSIT52890.2021.9604685
https://hdl.handle.net/20.500.11851/8649
ISBN: 9781665449304
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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