A cascade controller for linearized Quadrotor model

Author

Inovan, Reka ; Ataka, Ahmad ; Tnunay, Hilton ; Abdurrahman, M. Qodar ; Cahyadi, Adha ; Yamamoto, Yusaku

Author_Institution

Dept. of Electr. Eng. & Inf. Technol., Univ. Gadjah Mada, Yogyakarta, Indonesia

fYear

2014

fDate

6-8 June 2014

Firstpage

161

Lastpage

164

Abstract

In this article we developed a sparse controller for Quadrotor. The controller is designed by applying pole placement method to the linearized Quadrotor model. We also introduced the use of post-filter and pre-filter to transform the state coordinate to decrease coupling between states. The proposed controller is implemented using simulink blocks. The controller is simulated to shows the ability of the controller to achieve desired altitude and ability to correct disturbance.

Keywords

autonomous aerial vehicles; cascade control; control system synthesis; filtering theory; linearisation techniques; pole assignment; UAV; cascade controller; linearized quadrotor model; pole placement method; post-filter; prefilter; simulink blocks; sparse controller design; state coordinate; unmanned aerial vehicle; Aerodynamics; Computational modeling; Force; Intelligent systems; Robots; Sparse matrices; Transforms; Jordan form; Quadcopter; linearization; pole-placement; similarity transform;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics and Intelligent Systems (ARIS), 2014 International Conference on

Conference_Location

Taipei

Type

conf

DOI

10.1109/ARIS.2014.6871516

Filename

6871516