STABILIZED CONTROLLER DESIGN FOR （稳定控制器设计）.pdfVIP

American Journal of Applied Sciences 10 (8): 819-831, 2013 ISSN: 1546-9239 ©2013 Science Publication doi:10.3844/ajassp.2013.819.831 Published Online 10 (8) 2013 (/ajas.toc) 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 Centre of Excellence for Unmanned Aerial Systems (COEUAS), School of Mechatronics, University Malaysia Perlis, Jalan Kangar Alor-setar 01000, Kangar Perlis, Malaysia Received 2013-05-27, Revised 2013-06-06; Accepted 2013-07-09 ABSTRACT 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