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dc.contributor.authorHussein, Aziza
dc.contributor.authorshaban, manal
dc.contributor.authorKHALAF, ASHRAF
dc.date.accessioned2022-11-09T11:44:23Z
dc.date.available2022-11-09T11:44:23Z
dc.date.issued18-1-2022
dc.identifier.doi10.1109/ACCESS.2022.3141544en_US
dc.identifier.urihttp://hdl.handle.net/20.500.14131/202
dc.description.abstractControlling a quadcopter is a challenging task because of the inherent high nonlinearity of a quadcopter system. In this paper, a new quaternion based nonlinear feedback controller for attitude and altitude regulation of a quadcopter is proposed. The dynamic model of the quadcopter is derived using Newton and Euler equations. The proposed controller is established based on a feedback linearization technique to control and regulate the quadcopter. Global asymptotic stability of the designed controller is verified using Lyapunov stability criterion. A comparison of the proposed controller performance and that of the state-of-the-art quadcopter controllers is performed to ensure the effectiveness of the proposed model. The efficiency of the proposed controller is clearly shown when the quadcopter is in or near a corner pose. Simulations are performed to assess the transient and steady state performance. Steady State Error ( Ess ) and Max Error ( EM ) are used as evaluation metrics of the proposed model performance.en_US
dc.publisherIEEEen_US
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/en_US
dc.subjectAttitude and altitude regulationen_US
dc.subjectFeedback linearizationen_US
dc.subjectNonlinear controlen_US
dc.titleAttitude and Altitude Nonlinear Control Regulation of a Quadcopter Using Quaternion Representationen_US
dc.typeArticleen_US
dc.source.journalIEEE Accessen_US
refterms.dateFOA2022-11-09T11:44:24Z
dc.source.pages5884-5894en_US
dc.contributor.researcherElectrical and Computer Engineeringen_US


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