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Attitude Control of Quadrotor in Consideration of the Effects of a Pole Based on Limited Pole Placement
Author(s) -
SUGAWARA YASUNORI,
SHIMADA AKIRA
Publication year - 2017
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/eej.22882
Subject(s) - backstepping , control theory (sociology) , actuator , lyapunov function , control engineering , nonlinear system , engineering , attitude control , controller (irrigation) , control (management) , computer science , adaptive control , artificial intelligence , agronomy , physics , quantum mechanics , electrical engineering , biology
SUMMARY This paper introduces an attitude control technique for a quadrotor aircraft. Considering that the nonlinear characteristics of the aircraft makes it difficult to stabilize, a quadrotor controlled with an adaptive algorithm. Accordingly, we proposed a quadrotor application with backstepping based on the Lyapunov function. Furthermore, we designed a separate actuator control to be mounted on the aircraft for the control of the quadrotor. This approach is often used in industrial equipment. In particular, the limited pole placement (LPP) method is applied to design the controller considering the characteristics of the actuator. The representative simulation results are presented and discussed.