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Quadcopter Trajectory Tracking Control using State-Feedback Control with Integral Action

by Ahmed Samir, Abdallah Hammad, Ashraf Hafez, Hala Mansour
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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 168 - Number 9
Year of Publication: 2017
Authors: Ahmed Samir, Abdallah Hammad, Ashraf Hafez, Hala Mansour
10.5120/ijca2017914539

Ahmed Samir, Abdallah Hammad, Ashraf Hafez, Hala Mansour . Quadcopter Trajectory Tracking Control using State-Feedback Control with Integral Action. International Journal of Computer Applications. 168, 9 ( Jun 2017), 1-7. DOI=10.5120/ijca2017914539

@article{ 10.5120/ijca2017914539,
author = { Ahmed Samir, Abdallah Hammad, Ashraf Hafez, Hala Mansour },
title = { Quadcopter Trajectory Tracking Control using State-Feedback Control with Integral Action },
journal = { International Journal of Computer Applications },
issue_date = { Jun 2017 },
volume = { 168 },
number = { 9 },
month = { Jun },
year = { 2017 },
issn = { 0975-8887 },
pages = { 1-7 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume168/number9/27900-2017914539/ },
doi = { 10.5120/ijca2017914539 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-07T00:15:39.341183+05:30
%A Ahmed Samir
%A Abdallah Hammad
%A Ashraf Hafez
%A Hala Mansour
%T Quadcopter Trajectory Tracking Control using State-Feedback Control with Integral Action
%J International Journal of Computer Applications
%@ 0975-8887
%V 168
%N 9
%P 1-7
%D 2017
%I Foundation of Computer Science (FCS), NY, USA
Abstract

Trajectory tracking of Unmanned Aerial Vehicles (UAVs) is a very 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.

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Index Terms

Computer Science
Information Sciences

Keywords

Quadcopter Realtime Tracking Navigation Trajectory Modling State feedback

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