HEIGHT AND ATTITUDE CONTROL OF A QUADROTOR UAV VIA DISCRETE-TIME BACKSTEPPING


Adıgüzel F. , Mumcu T. V.

Eskişehir Technical University Journal of Science and Technology A - Applied Sciences and Engineering (ESTUJST-A), cilt.21, sa.3, ss.396-406, 2020 (Hakemli Üniversite Dergisi)

  • Cilt numarası: 21 Konu: 3
  • Basım Tarihi: 2020
  • Doi Numarası: 10.18038/estubtda.667664
  • Dergi Adı: Eskişehir Technical University Journal of Science and Technology A - Applied Sciences and Engineering (ESTUJST-A)
  • Sayfa Sayıları: ss.396-406

Özet

In this study, we focus on control of height and attitude of a quadrotor via a backstepping control method in discrete-time setting. Firstly, the mathematical model of the quadrotor unmanned aerial vehicle is introduced and the mathematical system equations are evaluated to discretize with the standard Euler discretization. Afterward, the designed backstepping control has been considered in one structure that derives the outputs of height and attitude subsystems to desired trajectories, respectively. Then, the proposed discrete-time backstepping controllers have individually shown the stability of the closed-loop system for z position and roll, pitch, yaw angle dynamics the sense of Lyapunov and by Barbalat’s lemma. In order to shown the effectiveness of the obtained controllers for height and attitude subsystems, computer simulation studies have been presented by being compared with the traditional control method PD and satisfactory results have been obtained.