Quadcopter path following control design using output feedback with command generator tracker based on LOS

Anggara Trisna Nugraha, Trihastuti Agustinah

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Citations (Scopus)

Abstract

The development of quadcopter technology has much increasing, such as in military and law enforcement agencies, for surveillance, reconnaissance and rescue mission. Also in scientific sides, it is used for mapping the condition of wind speed, detecting radiation sources, maintenance and survey. Quadcopter is a system that still have problem, which is stability, and because of that it can easily get interference from outside. This characteristic leads to the difficulties in automatic controlling the following path and set the heading of Quadcopter. Based on this problem, this paper provides the design of following path control on the horizontal plane by adding Line Of Sight algorithm so it will produce the smallest error possible. The result of the simulation show 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 ±0.07 meters.

Original languageEnglish
Title of host publication2017 International Seminar on Intelligent Technology and Its Application
Subtitle of host publicationStrengthening the Link Between University Research and Industry to Support ASEAN Energy Sector, ISITIA 2017 - Proceeding
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages255-260
Number of pages6
ISBN (Electronic)9781538627068
DOIs
Publication statusPublished - 28 Nov 2017
Event18th International Seminar on Intelligent Technology and Its Application, ISITIA 2017 - Surabaya, Indonesia
Duration: 28 Aug 201729 Aug 2017

Publication series

Name2017 International Seminar on Intelligent Technology and Its Application: Strengthening the Link Between University Research and Industry to Support ASEAN Energy Sector, ISITIA 2017 - Proceeding
Volume2017-January

Conference

Conference18th International Seminar on Intelligent Technology and Its Application, ISITIA 2017
Country/TerritoryIndonesia
CitySurabaya
Period28/08/1729/08/17

Keywords

  • Command-Generator tracker
  • LOS
  • LQ regulator
  • Path following
  • Quadcopter

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