Position Control Using Trajectory Tracking and State Estimation of a Quad-rotor
Quad-rotor aircrafts are unmanned aerial vehicles that have gained significant popularity in recent years and have been developed for use in many areas. Such vehicles are capable of vertical take-off and landing and are used in various applications. To operate a quad-rotor aircraft efficiently and s...
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| Format: | Article |
| Language: | English |
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Çanakkale Onsekiz Mart University
2023-12-01
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| Series: | Journal of Advanced Research in Natural and Applied Sciences |
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| Online Access: | https://dergipark.org.tr/en/download/article-file/3228894 |
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| author | Onur Sarıpınar Muharrem Mercimek |
| author_facet | Onur Sarıpınar Muharrem Mercimek |
| author_sort | Onur Sarıpınar |
| collection | DOAJ |
| description | Quad-rotor aircrafts are unmanned aerial vehicles that have gained significant popularity in recent years and have been developed for use in many areas. Such vehicles are capable of vertical take-off and landing and are used in various applications. To operate a quad-rotor aircraft efficiently and safely, fundamental issues such as mathematical modeling, control, and state estimation need to be studied. Mathematical modeling involves creating a holistic model of the various subsystems of the aircraft including aerody-namic, kinematic, dynamic and control systems. The control system is a mechanism used for the aircraft to perform the desired movements. State estimation techniques are used to obtain and predict information about the state of the aircraft. This study includes position control using a trajectory generation algorithm. Attitude estimation of the quad-rotor is improved with the Explicit Complementary Filter (ECF) and the state estimations is improved with the Extended Kalman Filter (EKF). Different from other studies, the results are obtained by feeding the model with a state estimation filter. The performances of the filters used for state estimation are compared. |
| format | Article |
| id | doaj-art-f81f29820f44462594e53323944fbfbe |
| institution | Kabale University |
| issn | 2757-5195 |
| language | English |
| publishDate | 2023-12-01 |
| publisher | Çanakkale Onsekiz Mart University |
| record_format | Article |
| series | Journal of Advanced Research in Natural and Applied Sciences |
| spelling | doaj-art-f81f29820f44462594e53323944fbfbe2025-02-05T18:13:02ZengÇanakkale Onsekiz Mart UniversityJournal of Advanced Research in Natural and Applied Sciences2757-51952023-12-01941005101910.28979/jarnas.1318975453Position Control Using Trajectory Tracking and State Estimation of a Quad-rotorOnur Sarıpınar0https://orcid.org/0000-0001-6042-5930Muharrem Mercimek1https://orcid.org/0000-0001-8737-298XYILDIZ TEKNİK ÜNİVERSİTESİYILDIZ TEKNİK ÜNİVERSİTESİQuad-rotor aircrafts are unmanned aerial vehicles that have gained significant popularity in recent years and have been developed for use in many areas. Such vehicles are capable of vertical take-off and landing and are used in various applications. To operate a quad-rotor aircraft efficiently and safely, fundamental issues such as mathematical modeling, control, and state estimation need to be studied. Mathematical modeling involves creating a holistic model of the various subsystems of the aircraft including aerody-namic, kinematic, dynamic and control systems. The control system is a mechanism used for the aircraft to perform the desired movements. State estimation techniques are used to obtain and predict information about the state of the aircraft. This study includes position control using a trajectory generation algorithm. Attitude estimation of the quad-rotor is improved with the Explicit Complementary Filter (ECF) and the state estimations is improved with the Extended Kalman Filter (EKF). Different from other studies, the results are obtained by feeding the model with a state estimation filter. The performances of the filters used for state estimation are compared.https://dergipark.org.tr/en/download/article-file/3228894position controltrajectory trackingstate estimation |
| spellingShingle | Onur Sarıpınar Muharrem Mercimek Position Control Using Trajectory Tracking and State Estimation of a Quad-rotor Journal of Advanced Research in Natural and Applied Sciences position control trajectory tracking state estimation |
| title | Position Control Using Trajectory Tracking and State Estimation of a Quad-rotor |
| title_full | Position Control Using Trajectory Tracking and State Estimation of a Quad-rotor |
| title_fullStr | Position Control Using Trajectory Tracking and State Estimation of a Quad-rotor |
| title_full_unstemmed | Position Control Using Trajectory Tracking and State Estimation of a Quad-rotor |
| title_short | Position Control Using Trajectory Tracking and State Estimation of a Quad-rotor |
| title_sort | position control using trajectory tracking and state estimation of a quad rotor |
| topic | position control trajectory tracking state estimation |
| url | https://dergipark.org.tr/en/download/article-file/3228894 |
| work_keys_str_mv | AT onursarıpınar positioncontrolusingtrajectorytrackingandstateestimationofaquadrotor AT muharremmercimek positioncontrolusingtrajectorytrackingandstateestimationofaquadrotor |