Skip to main content
Disciplines
Automotive Business IT + Informatics Construction + Real Estate Electrical Engineering + Electronics Energy + Sustainability Insurance + Risk Finance + Banking Management + Leadership Marketing + Sales Mechanical Engineering + Materials
DE
EN
Books
Journals
Events
Topic Page
Marketing
Log in
Learn more about individual access
Request company access
Electric Powertrains and Energy Systems 2025 | 26 + 27 March 2025

19th International MTZ Congress on Future Powertrains

Take this opportunity to attend the conference. Experts from the automotive industry, energy providers, and grid operators will meet up with representatives from politics and science to discuss important topics for this sector.
EXTENDED SEARCH
Log in
Top
Published in:
Read chapter Read first chapter

2017 | OriginalPaper | Chapter

Modeling, Control and Simulation of a Quadrotor for Attitude Stabilization

Authors : Bárbara B. Carlos, Antonio É. R. M. de Oliveira, Auzuir R. de Alexandria, Rejane C. Sá, Antonio W. O. Rodrigues

Published in: Applied Computer Sciences in Engineering

Publisher: Springer International Publishing

Log in

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

Unmanned Aerial Vehicle (UAV) are increasingly playing an important role in various fields of application and their development, with the advancement and decreasing cost of technology, became simpler. In this paper we present a mathematical model for a quadrotor and different control strategies. The control task is based on the discretization of the system by Tustin’s Method to achieve the angular stabilization of the quadrotor. The proposed approach shows the standard single loop and nested loop model, hierarchizing the mid-level attitude control, evaluating the performance of a P, PD and P-P controllers obtained by linearizing the plant’s dynamics around an equilibrium point. Simulation results compared the proposed controllers providing a possible solution for future implementation.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

inform now
previous chapter Unsupervised and Supervised Activity Analysis of Drone Sensor Data
next chapter Model and Design of the Embedded Hexapod Robot Aduka Used for Hazardous Environment Inspections
Literature
1.
Das, A., Subbarao, K., Lewis, F.: Dynamic inversion of quadrotor with zero-dynamics stabilization. In: IEEE International Conference on Control, pp. 1189–1194 (2008)
2.
Sanca, A.S., Alsina, P.J., Cerqueira, J.: Dynamic modelling of a quadrotor aerial vehicle with nonlinear inputs. In: IEEE Latin American Robotic Symposium. LARS 2008, pp. 143–148 (2008)
3.
Amir, M., Abbass, V.: Modeling of quadrotor helicopter dynamics. In: International Conference on Smart Manufacturing Application, pp. 100–105 (2008)
4.
Bouabdallah, S., Siegwart, R.: Backstepping and sliding-mode techniques applied to an indoor micro quadrotor. In: International Conference on Smart Manufacturing Application, pp. 2247–2252 (2005)
5.
Madani, T., Benallegue, A.: Sliding mode observer and backstepping control for a quadrotor unmanned aerial vehicles. In: American Control Conference, ACC 2007, pp. 5887–5892 (2007)
6.
Bouabdallah, S., Noth, A., Siegwart, R.: PID vs LQ control techniques applied to an indoor micro quadrotor. In: Proceedings of 2004 IEEE/RSJ International Conference On Intelligent Robots and Systems, pp. 2451–2456 (2004)
7.
Coza, C., Macnab, C.: A new robust adaptive-fuzzy control method applied to quadrotor helicopter stabilization. In: Annual meeting of the North American Fuzzy Information Processing Society, NAFIPS 2006, pp. 454–458 (2006)
8.
Hamel, T., Mahony, R., Lozano, R., Ostrowski, J.: Dynamic modeling and configuration stabilization for an X4-flayer. In: 15th Triennial World Congress (2002)
9.
Altuğ, E., Ostrowski, J.P., Mahony, R.: Control of a quadrotor helicopter using visual feedback. In: Proceedings of the 2002 IEEE conference on Robotics & Automation (2002)
10.
Altuğ, E., Ostrowski, J.P., Taylor, C.J.: Quadrotor control using dual camera visual feedback. In: Proceedings of the 2003 IEEE conference on Robotics & Automation (2003)
11.
Altuğ, E., Taylor, C.J.: Vision-based pose estimation and control of a model helicopter. In: International Conference on Mechatronics (2004)
12.
Guenard, N., Hamel, T., Mahony, R.: A practical visual servo control for an unmanned aerial vehicle. IEEE Trans. Robot 24, 331–340 (2008)
13.
Suter, D., Hamel, T., Mahony, R.: Visual servo control using homography estimation for the stabilization of an X4-flayer. In: Proceedings of the 41st IEEE conference on Decision and Control (2002)
14.
Moktari, A., Benallegue, A.: Dynamic feedback controller of Euler Angles and wind parameters estimation for a quadrotor unmanned aerial vehicle. In: Proceedings of the 2004 IEEE conference on Robotics & Automation (2004)
15.
Benallegue, A., Mokhtari, A., Fridman, L.: Feedback linearization and high order sliding mode observer for a quadrotor UAV. In: Proceedings of the 2006 International Workshop on Variable Structure Systems (2006)
16.
Dunfied, J., Tarbouchi, M., Labonte, G.: Neural network based control of a four rotor helicopter. In: IEEE International Conference on Industrial Technology (2004)
17.
Henriques, B.S.M.: Estimation and control of a quadrotor attitude. Master’s thesis, Universidade Técnica de Lisboa (2011)
18.
Pillay, P., Khrishnan, R.: Modeling, Simulation and Analysis of Permanent-Magnet Motor Drives, Part II: The brushless DC motor drive, vol. 25, pp. 274–279 (1989)
19.
Doanç, K.: Design of two wheeled twin rotored hybrid robotic platform. Master’s thesis, Atilim University (2010)
20.
Åström, K.J., Wittenmark, B.W.: Computer-Controlled Systems-Theory and Design, 3rd edn. Prentice Hall, Englewood Cliffs (1997)
21.
Mattey, R.A.: Bifilar pendulum technique for determining mass properties of discos packages (1974)
Metadata
Title
Modeling, Control and Simulation of a Quadrotor for Attitude Stabilization
Authors
Bárbara B. Carlos
Antonio É. R. M. de Oliveira
Auzuir R. de Alexandria
Rejane C. Sá
Antonio W. O. Rodrigues
Copyright Year
2017
Book
Applied Computer Sciences in Engineering

Print ISBN: 978-3-319-66962-5

Electronic ISBN: 978-3-319-66963-2

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-66963-2_2

Premium Partner

    Image Credits