Email this article 
Quadcopter Movement Analysis Using Output Feedback Control Based on Line of Sight
Abstract
Quadcopter UAV is a non-linear system which underactuated and unstable. Those charateristics will be the focus on this study for the development of quadcopter’s control. In this study, the output feedback control used to control the attitude and the position of the quadcopter. This control has H∞ performance which is used to maintain the quadcopter’s stability and toughness. Then, the gain controller is obtained by using the numerical iterative of Linear Matrix Inequality (LMI). Where as, the CommandGenerator Tracker (CGT) used for tracking position control on the X and Y axes. Based on the research problems, this study will present the tracking control design in the horizontal area by adding the Line of Sight algorithm in order to change the path into the zero. The simulation result shows that the control method used is able to bring the yaw, pitch, and roll to the expected values on a circular path.
Keywords
Quadcopter UAV; Circular Track; LMI; Command Generator Tracker; LQ Regulator
Full Text:
PDFReferences
A. T. N. S. T. MT, “Quadcopter Movement Analysis Using Output Feedback Control Based On Line Of Sight,” JEEMECS (Journal of Electrical Engineering, Mechatronic and Computer Science), vol. 6, no. 1, 2023.
R. Ji, J. Ma, and S. S. Ge, “Modeling and control of a tilting quadcopter,” IEEE Trans Aerosp Electron Syst, vol. 56, no. 4, pp. 2823–2834, 2019.
E. Elokda, J. Coulson, P. N. Beuchat, J. Lygeros, and F. Dörfler, “Data‐enabled predictive control for quadcopters,” International Journal of Robust and Nonlinear Control, vol. 31, no. 18, pp. 8916–8936, 2021.
J. Gadewadikar, F. Lewis, K. Subbarao, and B. M. Chen, “Design of H∞ command and control loops for unmanned aerial vehicles using static output-feedback,” in 2007 46th IEEE Conference on Decision and Control, 2007, pp. 5395–5400.
M. S. Sadabadi and D. Peaucelle, “From static output feedback to structured robust static output feedback: A survey,” Annu Rev Control, vol. 42, pp. 11–26, 2016
T. E. Simos, V. N. Katsikis, S. D. Mourtas, and P. S. Stanimirović, “Unique non-negative definite solution of the time-varying algebraic Riccati equations with applications to stabilization of LTV systems,” Math Comput Simul, vol. 202, pp. 164–180, 2022.
A. T. Nugraha and D. Priyambodo, “Analysis of Determining Target Accuracy of Rocket Launchers on Xbee-Pro based Wheeled Robots to Realize the Development of Technology on the Military Field,” Journal of Electronics, Electromedical Engineering, and Medical Informatics, vol. 2, no. 3, pp. 114–118, 2020.
A. T. Nugraha, “Desain kontrol path following quadcopter dengan command generator tracker model following,” Diss. Institut Teknologi Sepuluh Nopember, 2017.
F. Ahmad, P. Kumar, A. Bhandari, and P. P. Patil, “Simulation of the quadcopter dynamics with LQR based control,” Mater Today Proc, vol. 24, pp. 326–332, 2020.
H. Maghfiroh, M. Nizam, M. Anwar, and A. Ma’Arif, “Improved LQR control using PSO optimization and Kalman filter estimator,” IEEE Access, vol. 10, pp. 18330–18337, 2022.
V. Kuntsevich, V. Gubarev, and Y. Kondratenko, Control systems: theory and applications. CRC Press, 2022.
J. Nah and S. Yim, “Vehicle stability control with four-wheel independent braking, drive and steering on in-wheel motor-driven electric vehicles,” Electronics (Basel), vol. 9, no. 11, p. 1934, 2020.
V. Dobrokhodov, “Cooperative path planning of unmanned aerial vehicles,” Journal of Guidance, Control, and Dynamics, vol. 34, no. 5, pp. 1601–1602, 2011.
DOI: https://doi.org/10.26905/jeemecs.v6i1.6033
Refbacks
- There are currently no refbacks.
JEEMECS (Journal of Electrical Engineering, Mechatronic and Computer Science) |
Mailling Address:
|
