Basri, Mohd Ariffanan Mohd and Noordin, Aminurrashid and Mahmud, Mohd Saiful Azimi and Hassan, Fazilah and Subha, Nurul Adilla Mohd (2024) Stabilization and altitude tracking of quadrotor using backstepping controller with a saturation compensator. In: 22nd Asia Simulation Conference, AsiaSim 2023, 25 October 2023 through 26 October 2023, Langkawi.
![[img]](http://eprints.utem.edu.my/style/images/fileicons/text.png) |
Text
Stabilization and Altitude Tracking of Quadrotor using Backstepping Controller with a Saturation Compensator.pdf Restricted to Registered users only Download (461kB) |
Abstract
Researchers and control engineers have long found controlling quadrotor helicopters to be quite difficult. Due to the significant nonlinearities of this type of helicopter, numerous algorithms have been devised to control it. The dynamic model of the quadrotor has been developed in this article, and a sturdy controller has been created to handle the issue of altitude tracking and stabilization in the presence of external disturbances. Backstepping, which contains switching function as part of the controller, allows for the development of a robust control system. The switching function is utilized in the control law design to lessen the effects of external disturbances. To demonstrate the value and efficacy of the theoretical development, the proposed method is assessed in a quadrotor simulation environment. The results of the simulations demonstrate that even in the face of external perturbations, the suggested control system may produce favourable control performances for an autonomous quadrotor helicopter.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Uncontrolled Keywords: | Backstepping control, Quadrotor helicopter, Robust control, Saturation compensator |
| Divisions: | Faculty Of Electrical Technology And Engineering |
| Depositing User: | Norhairol Khalid |
| Date Deposited: | 05 Jun 2025 08:26 |
| Last Modified: | 05 Jun 2025 08:26 |
| URI: | http://eprints.utem.edu.my/id/eprint/28754 |
| Statistic Details: | View Download Statistic |
Actions (login required)
 |
View Item |