FEEDBACK LINEARIZATION AND BACK STEPPING CONTROLLER AIMED AT POSITION TRACKING FOR A NOVEL FIVE-ROTOR UAV

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TOFIGH MOHAMAD ALI; MAHJOOB MOHAMMAD; AYATI MOOSA

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Journal: Modares Mechanical Engineering Year:2015 | Volume:15 | Issue:9 Page(s): 247-254

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Title

FEEDBACK LINEARIZATION AND BACK STEPPING CONTROLLER AIMED AT POSITION TRACKING FOR A NOVEL FIVE-ROTOR UAV

Author(s)

TOFIGH MOHAMAD ALI | MAHJOOB MOHAMMAD | AYATI MOOSA | Issue Writer Certificate

Keywords

FIVE-ROTOR UAVQ2

MODIFIED QUADROTORQ2

FEEDBACK LINEARIZATIONQ2

BACK STEPPING CONTROLLERQ2

Abstract

Simple structure and high maneuverability of quadrotors have made them one of the most preferable types of UAVs (Unmanned Aerial Vehicle). However, the main problem is their small payload capacity. In this paper, a novel FIVE-ROTOR UAV is introduced. Dynamical model of UAV and two nonlinear controllers for trajectory tracking are developed. In the proposed UAV structure an extra propeller is added to the center of vehicle to improve the ability of lifting heavier payloads and open loop stability of quadrotor. The dynamic model is obtained via Newton Euler approach. The model is under actuated, nonlinear, unstable, and has strongly coupled terms. In order to have trajectory tracking two types of nonlinear controllers are designed for the UAV. First controller is designed based on input-output FEEDBACK LINEARIZATION method. This controller involves high-order derivative terms and turns out to be quite sensitive to noises and modeling uncertainty. Second controller is a back-stepping controller based on the hierarchical control strategy that yields lower computational expense. Simulation results confirm acceptable performance of BACK STEPPING CONTROLLER stability, position tracking, and robustness in presence of external disturbance.

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APA: Copy

TOFIGH, MOHAMAD ALI, MAHJOOB, MOHAMMAD, & AYATI, MOOSA. (2015). FEEDBACK LINEARIZATION AND BACK STEPPING CONTROLLER AIMED AT POSITION TRACKING FOR A NOVEL FIVE-ROTOR UAV. MODARES MECHANICAL ENGINEERING, 15(9), 247-254. SID. https://sid.ir/paper/179040/en

Vancouver: Copy

TOFIGH MOHAMAD ALI, MAHJOOB MOHAMMAD, AYATI MOOSA. FEEDBACK LINEARIZATION AND BACK STEPPING CONTROLLER AIMED AT POSITION TRACKING FOR A NOVEL FIVE-ROTOR UAV. MODARES MECHANICAL ENGINEERING[Internet]. 2015;15(9):247-254. Available from: https://sid.ir/paper/179040/en

IEEE: Copy

MOHAMAD ALI TOFIGH, MOHAMMAD MAHJOOB, and MOOSA AYATI, “FEEDBACK LINEARIZATION AND BACK STEPPING CONTROLLER AIMED AT POSITION TRACKING FOR A NOVEL FIVE-ROTOR UAV,” MODARES MECHANICAL ENGINEERING, vol. 15, no. 9, pp. 247–254, 2015, [Online]. Available: https://sid.ir/paper/179040/en

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