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Backstepping controller with intelligent parameters selection for stabilization of quadrotor helicopter

Mohd. Basri, Mohd. Ariffanan and Husain, Abdul Rashid and Kumeresan A., Danapalasingam (2014) Backstepping controller with intelligent parameters selection for stabilization of quadrotor helicopter. Journal of Engineering Science and Technology Review, 7 (2). pp. 66-74. ISSN 1791-9320

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Official URL: https://www.researchgate.net/publication/289430860

Abstract

backstepping controller (IBC) is designed for the quadrotor altitude and attitude stabilization in the existence of external disturbances and measurement noise. The designed controller consists of a backstepping controller which can automatically select its parameters on-line by a fuzzy supervisory mechanism. The stability criterion for the stabilization of the quadrotor is proven by the Lyapunov theorem. Several numerical simulations using the dynamic model of a four degree of freedom (DOF) quadrotor helicopter show the effectiveness of the approach. Besides, the simulation results indicate that the proposed design techniques can stabilize the quadrotor helicopter with better performance than established linear design techniques.

Item Type:Article
Uncontrolled Keywords:backstepping control, fuzzy supervisory, quadrotor helicopter
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:51976
Deposited By: Siti Nor Hashidah Zakaria
Deposited On:01 Feb 2016 03:51
Last Modified:29 Aug 2018 07:57

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