HEIGHT AND ATTITUDE CONTROL OF A QUADROTOR UAV VIA DISCRETE-TIME BACKSTEPPING

Year 2020, Volume: 21 Issue: 3, 396 - 406, 30.09.2020

Fatih Adıgüzel Tarık Veli Mumcu

https://doi.org/10.18038/estubtda.667664

Abstract

In this study, we focus on control of height and attitude of a quadrotor via a backstepping control method in discrete-time setting. Firstly, the mathematical model of the quadrotor unmanned aerial vehicle is introduced and the mathematical system equations are evaluated to discretize with the standard Euler discretization. Afterward, the designed backstepping control has been considered in one structure that derives the outputs of height and attitude subsystems to desired trajectories, respectively. Then, the proposed discrete-time backstepping controllers have individually shown the stability of the closed-loop system for z position and roll, pitch, yaw angle dynamics the sense of Lyapunov and by Barbalat’s lemma. In order to shown the effectiveness of the obtained controllers for height and attitude subsystems, computer simulation studies have been presented by being compared with the traditional control method PD and satisfactory results have been obtained.

Keywords

Quadrotor, Backstepping, Discrete Control,

References

• [1] Oltmanns S d’Oleire, Marzolff I, Peter K and Ries J. Unmanned aerial vehicle (uav) for monitoring soil erosion in morocco. Remote Sensing, 2012; vol. 4, no. 11, pp. 3390–3416.
• [2] Nex F and Remondino F. Uav for 3d Mapping Applications: A Review. Applied Geomatics, 2014; vol. 6, no. 1, pp. 1–15.
• [3] Girard AR, Howell AS and Hedrick JK. Border Patrol and Surveillance Missions using Multiple Unmanned Air Vehicles, in 2004 43rd IEEE Conference on Decision and Control (CDC)(IEEE Cat. No. 04CH37601), vol. 1. IEEE, 2004, pp. 620–625.
• [4] Zhang C and Kovacs JM. The Application of Small Unmanned Aerial Systems for Precision Agriculture: A Review. Precision Agriculture, vol. 13, no. 6, pp. 693–712, 2012.
• [5] Mahony R, Kumar V and Corke P. Multirotor Aerial Vehicles: Modeling, Estimation, and control of quadrotor. IEEE Robotics & Automation Magazine, 2012; vol. 19, no. 3, pp. 20–32.
• [6] Sujit P, Saripalli S and Sousa JB. Unmanned Aerial Vehicle Path Following: A survey and Analysis of Algorithms for Fixed-Wing Unmanned Aerial Vehicless. IEEE Control Systems Magazine, 2014; vol. 34, no. 1, pp. 42–59.
• [7] Li J and Li Y. Dynamic Analysis and Pid Control for a Quadrotor, in 2011 IEEE International Conference on Mechatronics and Automation. IEEE, 2011, pp. 573–578.
• [8] Hametner C, Mayr CH, Kozek M and Jakubek S. Pid Controller Design for Nonlinear Systems Represented by Discrete-Time Local Model Networks. International Journal of Control, 2013; vol. 86, no. 9, pp. 1453– 1466.
• [9] Madani T and Benallegue A. Backstepping Control for A Quadrotor Helicopter, in 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2006, pp.3255–3260.
• [10] Bouchoucha M, Seghour S, Osmani H, and Bouri M. Integral Backstepping for Attitude Tracking of a Quadrotor System. Elektronika ir Elektrotechnika, 2011; vol. 116, no. 10, pp. 75–80.
• [11] Lee T, Leok M and McClamroch NH. Geometric tracking control of a quadrotor uav on SE (3), in 49th IEEE conference on decision and control (CDC). IEEE, 2010, pp. 5420–5425.
• [12] Dydek ZT, Annaswamy AM. and Lavretsky E. Adaptive Control of Quadrotor Uavs: A design Trade Study with Flight Evaluations, IEEE Transactions on Control Systems Technology, 2012; vol. 21, no. 4, pp. 1400– 1406.
• [13] Tang S, Zhang L and Zheng Z. Adaptive Height and Attitude Control of Small-Scale Unmanned Helicopter, in 2013 25th Chinese Control and Decision Conference (CCDC). IEEE, 2013, pp. 1–6.
• [14] Xu R and Ozguner U. Sliding Mode Control of a Quadrotor Helicopter, in Proceedings of the 45th IEEE Conference on Decision and Control. IEEE, 2006, pp. 4957–4962.
• [15] Nicol C, Macnab C and Ramirez-Serrano A. Robust Adaptive Control of a Quadrotor Helicopter, Mechatronics, 2011; vol. 21, no. 6, pp. 927–938.
• [16] Lozano R, Sanchez A, Salazar-Cruz S and Fantoni I. Discrete-time stabilization of integrators in cascade: Real-Time Stabilization of a Minirotorcraft. International Journal of Control, 2008; vol. 81, no. 6, pp. 894–904.
• [17] Xiong J-J and Zhang G. Discrete-Time Sliding Mode Control for a Quadrotor Uav. Optik-International Journal for Light and Electron Optics, 2016; vol. 127, no. 8, pp. 3718–3722.
• [18] Cabecinhas D, Cunha R and Silvestre C. A Nonlinear Quadrotor Trajectory Tracking Controller with Disturbance Rejection. Control Engineering Practice, 2014; vol. 26, pp. 1–10.
• [19] Dou J, Kong X and Wen B. Altitude and attitude active disturbance rejection controller design of a quadrotor unmanned aerial vehicle,” Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 2017; vol. 231, no. 9, pp. 1732–1745.
• [20] Krstic M, Kanellakopoulos I, Kokotovic PV et al., Nonlinear and Adaptive Control Design. Wiley New York, 1995, vol. 222.
• [21] Khalil HK. Nonlinear Systems, Upper Saddle River, 2002.
• [22] Tanasa V, Monaco S and Normand-Cyrot D. Backstepping Control Under Multi-Rate Sampling. IEEE Transactions on Automatic Control, 2015; vol. 61, no. 5, pp. 1208–1222.
• [23] Adıgüzel F and Mumcu TV. Discrete-Time Backstepping Attitude Control of a Quadrotor Uav, in 2019 International Artificial Intelligence and Data Processing Symposium (IDAP). IEEE, 2019, pp. 1–5.
• [24] Alexis K, Nikolakopoulos G and Tzes A. Model Predictive Quadrotor Control: Attitude, Altitude and Position Experimental Studies. IET Control Theory & Applications, 2012; vol. 6, no. 12, pp. 1812–1827.
• [25] Xu R and Özgüner Ü, Sliding Mode Control of A Class of Underactuated Systems, Automatica, 2008; vol. 44, no. 1, pp. 233–241.