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Robust Control of Quadcopter in Case of Releasing Liquid and Encountering Uncertainties by Nguyen Son Hoang; Manh-Tuan Ha is a book available to read on EtoBox.

What is Robust Control of Quadcopter in Case of Releasing Liquid and Encountering Uncertainties about?

This paper illustrates the dynamics model and controller design of the quadcopter in the case of releasing liquid gradually. In the context of this paper, two ways of changing the mass of the liquid are taken into account. First, the fluid is released vertically in flight, and the second involves spraying the liquid horizontally. On the other hand, disturbances, as well as noises, are added to match the actual conditions. This paper also gives the dynamics equations of the quadcopter in the above cases using the Newton Euler method. To deal with the uncertainties, the controller is designed based on the Backstepping controller strategy, which is the recursive control that the design process can be "started" at a known-stable system and the designer will "back out" a new controller that progressively stabilizes each outer subsystem. Finally, the control algorithm and dynamic model are simulated by Matlab to demonstrate the feasibility of the system. In general, the quadcopter is stable under the disturbances and uncertainties after applying the Backstepping control strategy.

Author

Nguyen Son Hoang; Manh-Tuan Ha

Publisher

Springer Nature Singapore : Imprint : Springer

Published

2022

Language

EN

ISBN

9789811919688

Subjects

Science, Technology, Chemistry