Attitude Control of a Quadrotor

Dikmen I. C., Arisoy A., Temeltaş H.

4th International Conference on Recent Advances in Space Technologies, İstanbul, Turkey, 11 - 13 June 2009, pp.722-723 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/rast.2009.5158286
  • City: İstanbul
  • Country: Turkey
  • Page Numbers: pp.722-723
  • Keywords: quadrotor, robust control, back stepping, sliding mode, inverse dynamic control
  • Istanbul Technical University Affiliated: Yes

Abstract

This study includes altitude stabilization, hovering control any desired position and attitude control of quadrotor. Classically PD controller derived and applied to this system. Inverse dynamic control, feedback linearization control and sliding mode control methods have used to derive as nonlinear controllers. Linear and nonlinear control techniques applied to attitude control of this vehicle. Derived control methods have been performed using computer simulations and compared the results according to this study objective.