American Journal of Applied Sciences

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

M. Hassan Tanveer, S. Faiz Ahmed, D. Hazry, Faizan A. Warsi and M. Kamran Joyo

DOI : 10.3844/ajassp.2013.819.831

American Journal of Applied Sciences

Volume 10, Issue 8

Pages 819-831


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.


© 2013 M. Hassan Tanveer, S. Faiz Ahmed, D. Hazry, Faizan A. Warsi and M. Kamran Joyo. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.