Trajectory tracking of a quadrotor using stabilizing mechanism

R. Pourbafarani; S. Ali A. Moosavian; S. Sadr; P. Zarafshan

doi:10.1109/ICRoM.2014.6990936

Trajectory tracking of a quadrotor using stabilizing mechanism

R. Pourbafarani
, S. Ali A. Moosavian
, S. Sadr
, P. Zarafshan

K.N. Toosi University of Technology
Department of Agro-Technology
University of Tehran

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

Abstract

In this paper, the effect of using a stabilizing mechanism in trajectory tracking of a quad-rotor unmanned aerial vehicle has been investigated. Two different stabilizer mechanisms are designed. The first one is a spherical pendulum stabilizer and the second one is a cross stabilizer. Then, appropriate controller is designed for each stabilizer mechanism. The performance of the system is investigated in the presence of disturbing forces. Obtained results show that instead of using complicated nonlinear control methods, the proposed stabilizer mechanism yields a desired performance. Acceptable trajectory tracking shows the effectiveness of the proposed stabilizers.

Original language	English
Title of host publication	2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	410-415
Number of pages	6
ISBN (Electronic)	9781479967438
DOIs	https://doi.org/10.1109/ICRoM.2014.6990936
Publication status	Published - 2014
Externally published	Yes
Event	2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014 - Tehran, Iran, Islamic Republic of Duration: 15 Oct 2014 → 17 Oct 2014

Publication series

Name	2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014

Conference

Conference	2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014
Country/Territory	Iran, Islamic Republic of
City	Tehran
Period	15/10/14 → 17/10/14

Bibliographical note

Publisher Copyright:
© 2014 IEEE.

Keywords

Control
Mechanism
Quadrotor
Stabilizer
Trajectory Tracking

Access to Document

10.1109/ICRoM.2014.6990936

Cite this

Pourbafarani, R., Moosavian, S. A. A., Sadr, S., & Zarafshan, P. (2014). Trajectory tracking of a quadrotor using stabilizing mechanism. In 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014 (pp. 410-415). Article 6990936 (2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRoM.2014.6990936

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title = "Trajectory tracking of a quadrotor using stabilizing mechanism",

abstract = "In this paper, the effect of using a stabilizing mechanism in trajectory tracking of a quad-rotor unmanned aerial vehicle has been investigated. Two different stabilizer mechanisms are designed. The first one is a spherical pendulum stabilizer and the second one is a cross stabilizer. Then, appropriate controller is designed for each stabilizer mechanism. The performance of the system is investigated in the presence of disturbing forces. Obtained results show that instead of using complicated nonlinear control methods, the proposed stabilizer mechanism yields a desired performance. Acceptable trajectory tracking shows the effectiveness of the proposed stabilizers.",

keywords = "Control, Mechanism, Quadrotor, Stabilizer, Trajectory Tracking",

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year = "2014",

doi = "10.1109/ICRoM.2014.6990936",

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Pourbafarani, R, Moosavian, SAA, Sadr, S & Zarafshan, P 2014, Trajectory tracking of a quadrotor using stabilizing mechanism. in 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014., 6990936, 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014, Institute of Electrical and Electronics Engineers Inc., pp. 410-415, 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014, Tehran, Iran, Islamic Republic of, 15/10/14. https://doi.org/10.1109/ICRoM.2014.6990936

Trajectory tracking of a quadrotor using stabilizing mechanism. / Pourbafarani, R.; Moosavian, S. Ali A.; Sadr, S. et al.
2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 410-415 6990936 (2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014).

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

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AU - Sadr, S.

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PY - 2014

Y1 - 2014

N2 - In this paper, the effect of using a stabilizing mechanism in trajectory tracking of a quad-rotor unmanned aerial vehicle has been investigated. Two different stabilizer mechanisms are designed. The first one is a spherical pendulum stabilizer and the second one is a cross stabilizer. Then, appropriate controller is designed for each stabilizer mechanism. The performance of the system is investigated in the presence of disturbing forces. Obtained results show that instead of using complicated nonlinear control methods, the proposed stabilizer mechanism yields a desired performance. Acceptable trajectory tracking shows the effectiveness of the proposed stabilizers.

AB - In this paper, the effect of using a stabilizing mechanism in trajectory tracking of a quad-rotor unmanned aerial vehicle has been investigated. Two different stabilizer mechanisms are designed. The first one is a spherical pendulum stabilizer and the second one is a cross stabilizer. Then, appropriate controller is designed for each stabilizer mechanism. The performance of the system is investigated in the presence of disturbing forces. Obtained results show that instead of using complicated nonlinear control methods, the proposed stabilizer mechanism yields a desired performance. Acceptable trajectory tracking shows the effectiveness of the proposed stabilizers.

KW - Control

KW - Mechanism

KW - Quadrotor

KW - Stabilizer

KW - Trajectory Tracking

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T3 - 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014

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BT - 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014

PB - Institute of Electrical and Electronics Engineers Inc.

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Pourbafarani R, Moosavian SAA, Sadr S, Zarafshan P. Trajectory tracking of a quadrotor using stabilizing mechanism. In 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 410-415. 6990936. (2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014). doi: 10.1109/ICRoM.2014.6990936

Trajectory tracking of a quadrotor using stabilizing mechanism

Abstract

Publication series

Conference

Bibliographical note

Keywords

Access to Document

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