Quadcopter Path Following Control Design Using Output Feedback with Command Generator Tracker LOS Based at Square Path

A. T. Nugraha, T. Agustinah

Research output: Contribution to journalConference articlepeer-review

3 Citations (Scopus)

Abstract

Quadcopter an unstable system, underactuated and nonlinear in quadcopter control research developments become an important focus of attention. In this study, following the path control method for position on the X and Y axis, used structure-Generator Tracker Command (CGT) is tested. Attitude control and position feedback quadcopter is compared using the optimal output. The addition of the H∞ performance optimal output feedback control is used to maintain the stability and robustness of quadcopter. Iterative numerical techniques Linear Matrix Inequality (LMI) is used to find the gain controller. The following path control problems is solved using the method of LQ regulators with output feedback. Simulations show that the control system can follow the paths that have been defined in the form of a reference signal square shape. The result of the simulation suggest that the method which used can bring the yaw angle at the expected value algorithm. Quadcopter can do automatically following path with cross track error mean X=0.5 m and Y=0.2 m.

Original languageEnglish
Article number012074
JournalJournal of Physics: Conference Series
Volume947
Issue number1
DOIs
Publication statusPublished - 10 Jan 2018
Event2017 Mathematics, Informatics, Science and Education International Conference, MISEIC 2017 - Surabaya, Indonesia
Duration: 9 Sept 20179 Sept 2017

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