title   
  

LQR and SMC stabilization of a new unmanned aerial vehicle

Öner, Kaan Taha and Çetinsoy, Ertuğrul and Sırımoğlu, Efe and Hançer, Cevdet and Ayken, Taylan and Ünel, Mustafa (2009) LQR and SMC stabilization of a new unmanned aerial vehicle. In: International Conference on Intelligent Control, Robotics, and Automation (ICICRA09), Venice, Italy

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Official URL: http://www.waset.org/journals/waset

Abstract

We present our ongoing work on the development of a new quadrotor aerial vehicle which has a tilt-wing mechanism. The vehicle is capable of take-off/landing in vertical flight mode (VTOL) and flying over long distances in horizontal flight mode. Full dynamic model of the vehicle is derived using Newton-Euler formulation. Linear and nonlinear controllers for the stabilization of attitude of the vehicle and control of its altitude have been designed and implemented via simulations. In particular, an LQR controller has been shown to be quite effective in the vertical flight mode for all possible yaw angles. A sliding mode controller (SMC) with recursive nature has also been proposed to stabilize the vehicle’s attitude and altitude. Simulation results show that proposed controllers provide satisfactory performance in achieving desired maneuvers.

Item Type:Papers in Conference Proceedings
Uncontrolled Keywords:UAV, VTOL, dynamic model, stabilization, LQR, SMC
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
ID Code:12653
Deposited By:Mustafa Ünel
Deposited On:16 Nov 2009 14:54
Last Modified:16 Nov 2009 14:54

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