0000000000710222

AUTHOR

Sheikh Izzal Azid

showing 2 related works from this author

Robust motion control of nonlinear quadrotor model with wind disturbance observer

2021

This paper focuses on robust wind disturbance rejection for nonlinear quadrotor models. By leveraging on nonlinear unknown observer theory, it proposes a nonlinear dynamic filter that, using sensors already on-board the aircraft, can estimate in real-time wind gust signals in the three dimensions. The wind disturbance is then treated as input to the PD controller for a quick and robust flight pathway in presence of disturbances. With this scheme, the wind disturbance can be precisely estimated online and compensated in real-time. Hence, the quadrotor can successfully reach its desired attitude and position. To show the effective and desired performance of the method, simulation results are …

General Computer ScienceObserver (quantum physics)PD controlComputer scienceGeneral EngineeringPID controllerNonlinear unknown input observersFilter (signal processing)Motion controlUnknown wind gust estimation and compensationTK1-9971Nonlinear systemControl theoryRobustness (computer science)QuadrotorGeneral Materials ScienceNonlinear unknown input observers; PD control; Quadrotor; Unknown wind gust estimation and compensationElectrical engineering. Electronics. Nuclear engineeringRobust controlMATLABcomputercomputer.programming_language
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Improved Performance in Quadrotor Trajectory Tracking Using MIMO PIλ-D Control

2022

This paper aims to develop a fractional control approach for quadrotor trajectory tracking. A fractional-order integrator (PIλ) with a feedback derivative scheme is designed to control each state of the MIMO system. The designed feedback controller stabilizes the initially unstable decoupled states and widens the stability, while PIλ provides precise trajectory tracking capabilities. After a successful simulation study, the new PIλ-D controller is implemented in the hardware environment. The various performance and load disturbance analyses reveal the effectiveness of the proposed scheme compared with the classical PD/PID controllers. The real-time study also shows that this scheme is a sim…

OptimizationGeneral Computer ScienceTrajectory trackingQuadrotorStability boundary surfaceFractional-order controlGeneral EngineeringGeneral Materials ScienceElectrical and Electronic EngineeringReal-timeMIMO systemIEEE Access
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