7 Citations (Scopus)

Abstract

Quadrotor is often used to accomplish various missions related to surveillance, territory mapping, search and rescue, and other purposes. Quadrotor is a nonlinear system with multiple input multiple output and has stability issue due to external disturbance. These characteristics lead to difficulty in cruise control of quadrotor automatically. Decoupling method is used to eliminate the interaction of other control on rotational motion, then the roll, pitch, and yaw angle can be controlled independently. Nonlinear PD controller is obtained from invers model of control signal on a quadrotor and it is used to control the translational motion in x and y axis with nonlinear dynamics because of the influence the rotational angle. Simulation results show that the proposed method can eliminate the control interaction of roll, pitch and yaw angle, hence it works like single input single output system and translational motion on x and y axis can achieve the expected trajectory precisely.

Original languageEnglish
Title of host publication2015 International Seminar on Intelligent Technology and Its Applications, ISITIA 2015 - Proceeding
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages57-61
Number of pages5
ISBN (Electronic)9781479977109
DOIs
Publication statusPublished - 24 Aug 2015
Event16th International Seminar on Intelligent Technology and Its Applications, ISITIA 2015 - Surabaya, Indonesia
Duration: 20 May 201521 May 2015

Publication series

Name2015 International Seminar on Intelligent Technology and Its Applications, ISITIA 2015 - Proceeding

Conference

Conference16th International Seminar on Intelligent Technology and Its Applications, ISITIA 2015
Country/TerritoryIndonesia
CitySurabaya
Period20/05/1521/05/15

Keywords

  • Cruise Control
  • Decoupling
  • Multiple Input Multiple Output
  • Nonlinear PD
  • Nonlinear System
  • Quadrotor

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