Stability and Control of Quadcopter |
Author(s): |
| Avali Banerjee , GNIT; Tanusri Roy, GNIT; Titas Ghosh, GNIT; Stuti Ghosh, GNIT; Srijoni Malakar, GNIT |
Keywords: |
| Quadrotor, Nonlinear System, Cross-Coupled Dynamic System, Lyapunov- Krasovskii Method, Quadcopter |
Abstract |
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This project presents a systematic approach towards the stability analysis and control of a real dynamic system. A very interesting mechatronics platform, namely, quadrotor helicopter, which is a highly nonlinear and cross-coupled dynamic system and poses challenges for many classical control techniques, has been considered as a candidate system to illustrate the proposed control law. A novel methodology has been presented to analyze the stability of the nonlinear system by using Lyapunov- Krasovskii method and stabilize the system by implementing the control law. Lyapunov-Krasovskii method for analyzing the stability offers distinct advantages over other control methods. PD and PID control law have been implemented to stabilize the system and produce satisfactory results. Therefore, PD and PID controller can make quadcopter approaching the stationary state. |
Other Details |
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Paper ID: IJSRDV7I31020 Published in: Volume : 7, Issue : 3 Publication Date: 01/06/2019 Page(s): 1914-1918 |
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