Nonlinear Control of Quadrotor for Point Tracking: Actual Implementation and Experimental Tests

PROJECT TITLE :

Nonlinear Control of Quadrotor for Point Tracking: Actual Implementation and Experimental Tests

ABSTRACT:

In this paper, a nonlinear management theme along with its simulation and experimental results for a quadrotor are presented. It's not straightforward to manage the quadrotor as a result of the dynamics of quadrotor, that is obtained via the Euler–Lagrangian approach, has the features of underactuated, strongly coupled terms, uncertainty, and multiinput/multioutput. We tend to propose a new nonlinear controller by using a backstepping-like feedback linearization method to regulate and stabilize the quadrotor. The designed controller is divided into 3 subcontrollers which are known as perspective controller, altitude controller, and position controller. Stability of the designed controller is verified by the Lyapunov stability theorem. Detailed hardware parameters and experimental setups to implement the proposed nonlinear management algorithms are presented. The validity of proposed control theme is demonstrated by simulations beneath totally different simulation eventualities. Experimental results show that the proposed controller is able to hold out the tasks of beginning, hovering, and positioning.

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