Research Article Open Access

Stabilized Controller Design for Attitude and Altitude Controlling of Quad-Rotor Under Disturbance and Noisy Conditions

M. Hassan Tanveer1, S. Faiz Ahmed1, D. Hazry1, Faizan A. Warsi1 and M. Kamran Joyo1
  • 1 University Malaysia Perlis, Malaysia
American Journal of Applied Sciences
Volume 10 No. 8, 2013, 819-831

DOI: https://doi.org/10.3844/ajassp.2013.819.831

Published On: 24 July 2013

How to Cite: Tanveer, M. H., Ahmed, S. F., Hazry, D., Warsi, F. A. & Joyo, M. K. (2013). Stabilized Controller Design for Attitude and Altitude Controlling of Quad-Rotor Under Disturbance and Noisy Conditions. American Journal of Applied Sciences, 10(8), 819-831. https://doi.org/10.3844/ajassp.2013.819.831

Abstract

This article presents a control approach to obtain the better stabilization in attitude and altitude of quad-rotor under different disturbance conditions. In the standard Quad-rotor rotor type UAV, controlling of attitude and altitude is one of the most critical tasks and appropriate controller for stabilization of UAV is essential and necessary. These two controls under various conditions of disturbances was a field of research stimulating for the researchers. The controller proposed is contingent on the PID feedback structure with Extended Kalman Filter (EKF). From Lyapunov Stability Theorem, it is proved that quad-rotor proposed altitude control system is asymptotic as well exponentially stability. Extended Kalman Filter (EKF) is used to filter out the sensors and system noises. Finally, the simulations carried out on MATLAB and the result proved the effectiveness of proposed recommended method for stabilization of attitude and altitude of quad-rotor.

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Keywords

  • Quad-rotor
  • Takeoff/Landing and Altitude Control
  • PID
  • Lyapunov Stability Theorem
  • Extended Kalman Filter