Staff Members - Benha University
Quadcopter Trajectory Tracking Control using State-Feedback Control with Integral Action
International Journal of Computer Applications • 2017
Publication Information
Authors
Ahmed Samir, Ashraf Hafez, Abdallah Hammad, Hala Mansour
Keywords
Quadcopter, Realtime, Tracking, Navigation, Trajectory, Modling,
State feedback
Journal
International Journal of Computer Applications
Publisher
Not Available
Volume
168
Issue
Not Available
Pages
Not Available
publication.type
International
Paper Link
Not Available
Supplementary Materials
Not Available
Abstract
challenging and complicated field of research due to their nonlinear and underactuacted dynamics. In this paper, a real time trajectory tracking controller is developed for a quadrotor. A state feedback with integral action control scheme is designed for the position controller to ensure that the quadrotor can track the reference position rapidly. The quadrotor dynamic model is established using
Newton-Euler formalism taking into account various physical phenomena that can effect its dynamic behavior. NI-LabVIEW based simulation results show that the proposed controller can make the quadrotor tracks the desired trajectory quickly and smoothly with ensuring the stability for roll and pitch angle.
Newton-Euler formalism taking into account various physical phenomena that can effect its dynamic behavior. NI-LabVIEW based simulation results show that the proposed controller can make the quadrotor tracks the desired trajectory quickly and smoothly with ensuring the stability for roll and pitch angle.