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General Information
    • ISSN: 1793-8198
    • Frequency: Quarterly
    • DOI: 10.18178/IJMMM
    • Editor-in-Chief: Prof. K. M. Gupta, Prof. Ian McAndrew
    • Executive Editor: Ms. Cherry L. Chen
    • Abstracting/Indexing: EI (INSPEC, IET), Chemical Abstracts Services (CAS), Engineering & Technology Digital Library,  ProQuest, Crossref, Ulrich's Periodicals Directory, DOAJ, and Electronic Journals Library .
    • E-mail ijmmm@ejournal.net
Editor-in-chief
Prof. Ian McAndrew
Embry Riddle Aeronautical University, UK.
It is my honor to be the editor-in-chief of IJMMM. I will do my best to help develop this journal better.

IJMMM 2013 Vol.1(4): 347-349 ISSN: 1793-8198
DOI: 10.7763/IJMMM.2013.V1.75

Design of a Quadrotor Roll Controller Using System Identification to Improve Empirical Results

Anil Ufuk Batmaz, Ovunc Elbir, and Cosku Kasnakoglu
Abstract—Unmanned Aerial Vehicles (UAVs), specifically quadrotors, is one of the major topics of study in current literature with applications to numerous fields. In this paper we consider a test-bed for the design of a low cost flight controller for a quadrotor and as a first step in design we demonstrate the design of the roll controller on an experimental setup through the stages of data collection, modeling, control design and verification. The procedure consists of four stages: 1) Experimental determination of controller coefficients, 2) Data collection, 3) System identification, 4) Controller redesign by tuning coefficients with a numerical search. It is observed that the system designed as such is capable of achieving the desired roll stabilization, and coefficient tuning on the identified model noticeably improves the settling time and steady state oscillation amplitude.

Index Terms—Aerial vehicle control, discrete time, linear estimation, quadrotor.

The authors are with the Department of Electrical and Electronics Engineering, TOBB ETU Ankara 06560 Turkey (e-mail: aubatmaz@ etu.edu.tr, oelbir@ etu.edu.tr, kasnakoglu@ etu.edu.tr).

[PDF]

Cite:Anil Ufuk Batmaz, Ovunc Elbir, and Cosku Kasnakoglu, "Design of a Quadrotor Roll Controller Using System Identification to Improve Empirical Results," International Journal of Materials, Mechanics and Manufacturing vol. 1, no. 4, pp. 347-349, 2013.

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