Robust Control of a Quadrotor using EKBF State Vector Estimation
عنوان مقاله: Robust Control of a Quadrotor using EKBF State Vector Estimation
شناسه ملی مقاله: DCEAEM01_197
منتشر شده در اولین کنفرانس سراسری توسعه محوری مهندسی عمران، معماری،برق و مکانیک ایران در سال 1393
شناسه ملی مقاله: DCEAEM01_197
منتشر شده در اولین کنفرانس سراسری توسعه محوری مهندسی عمران، معماری،برق و مکانیک ایران در سال 1393
مشخصات نویسندگان مقاله:
Raziyeh Babaie - Department of Electrical Engineering, Imam Khomeini International University, Qazvin, Iran
AMIRfarhad ehyaei - Department of Electrical Engineering, Imam Khomeini International University, Qazvin, Iran
خلاصه مقاله:
Raziyeh Babaie - Department of Electrical Engineering, Imam Khomeini International University, Qazvin, Iran
AMIRfarhad ehyaei - Department of Electrical Engineering, Imam Khomeini International University, Qazvin, Iran
This paper presents the design of a nonlinear controller for trajectory tracking of a quadrotor helicopter based on sliding mode control technique (SMC). The proposed control method is characterized by its robustness against disturbances and aerodynamic effects. One of the main goals of this study is to develop a nonlinear observer based on extended kalman bucy filter (EKBF) to estimate unmeasured states of the system. In order to optimize the parameters in the proposed method, the paper utilizes the genetic algorithm. Finally, simulation results indicate that quadrotor UAV with the proposed controller ensures good tracking of a desired trajectory and its robustness against aerodynamic effects.
کلمات کلیدی: Quadrotor, Sliding Mode Control, Genetic Algorithm, State Estimation, Extended Kalman Bucy Filter
صفحه اختصاصی مقاله و دریافت فایل کامل: https://civilica.com/doc/325799/