Attitude Control of a 3DOF Quadrotor Stand Using Intelligent Back-stepping Approach

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Abeshtan, Peyman | 2016

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 49429 (45)
University: Sharif University of Technology
Department: Aerospace Engineering
Advisor(s): Nobahari, Hadi
Abstract:
In this research a novel intelligent back-stepping control method is developed. This method is robust to sensor noise and external disturbances. In addition, the controller is robust under model uncertainty. This controller does not need precise knowledge of system parameters. This method is based on three methods of: back-stepping control, least squares estimation and a fuzzy compensator. This controller is used to control quadrotor stand witch is like an inverse pendulum. In quadrotor stand modeling, the inverse pendulum effect is considered too, witch is one of the innovations of the research. By doing various simulations, the validity of controller is tested. Also the performance of the back-stepping controller, least squares estimator and fuzzy compensator is evaluated by doing several simulations. The performance of the back-stepping method is tested in the presence of the noise and uncertainty. At last the developed control methods are implemented and the results are presented
Keywords:
Backstepping Algorithm ; Attitude Control ; Intelligent Backstepping Control ; Linear Least Squares Estimator ; Fuzzy Compensator ; Three Degree of Freedom Quadrotor Stand

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