Proceedings of the 21st International Workshop on Computer Science and Information Technologies (CSIT 2019)

Quadrotor Angle Stabilization using Full State Feedback by Partial Robust Pole Assignment Method: Pole Retention

Authors
Mustafa Saraoğlu, Klaus Janschek, Andrey Morozov, Mehmet Turan Söylemez
Corresponding Author
Mustafa Saraoğlu
Available Online December 2019.
DOI
10.2991/csit-19.2019.32How to use a DOI?
Keywords
Unmanned aerial vehicles, state feedback, pole assignment, robust control
Abstract

Quadrotor also referred to as quadcopter has an increasing reputation nowadays as a practical rotorcraft and an unmanned aerial vehicle (UAV). The high number of degrees of freedom makes stability a serious issue as well as a performance criterion. Although, many different methods and strategies of control are applied to different models of quadrotors, an important issue that has not been covered widely is the robustness of the control and parametric uncertainty notions. Robust control seeks to design systems which work despite changing operating conditions, measurement errors and unknown affects. This paper presents a deep analysis of the robust pole assignment method for full state feedback-controlled quadrotor. A new numerical method for a multi-linear coefficient uncertain polynomial is introduced using quasi-gamma stability. Pole retention method is used as a robust pole assignment method for designing the feedback controller to guarantee the stability of the system for an interval of state feedback coefficients. The initial state response of the uncertain quadrotor system is shown to verify the system’s performance.

Copyright
© 2019, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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Volume Title
Proceedings of the 21st International Workshop on Computer Science and Information Technologies (CSIT 2019)
Series
Atlantis Highlights in Computer Sciences
Publication Date
December 2019
ISBN
978-94-6252-868-0
ISSN
2589-4900
DOI
10.2991/csit-19.2019.32How to use a DOI?
Copyright
© 2019, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

TY  - CONF
AU  - Mustafa Saraoğlu
AU  - Klaus Janschek
AU  - Andrey Morozov
AU  - Mehmet Turan Söylemez
PY  - 2019/12
DA  - 2019/12
TI  - Quadrotor Angle Stabilization using Full State Feedback by Partial Robust Pole Assignment Method: Pole Retention
BT  - Proceedings of the 21st International Workshop on Computer Science and Information Technologies (CSIT 2019)
PB  - Atlantis Press
SP  - 184
EP  - 190
SN  - 2589-4900
UR  - https://doi.org/10.2991/csit-19.2019.32
DO  - 10.2991/csit-19.2019.32
ID  - Saraoğlu2019/12
ER  -