Disturbance and noise rejection controller design for smooth takeoff / landing and altitude stabilization of quad-rotor

Abstract

This paper presents a control approach for smooth takeoff / landing i.e altitude controlling of quad-rotor. There are number of failure in UAV projects are recorded because of poor stability and control. In Quad-rotor type Unmanned Aerial Vehicles, smooth takeoff and landing is one of the most critical task and appropriate altitude stabilization controller is essential and necessary part of these type of unmanned systems. Altitude Controlling (i.e. height) under various disturbances conditions (e.g. wind disturbances) has been a challenging research domain for the researchers. This paper presents a simulation based model which takes into account the variation of the aero-dynamical coefficient due to vehicle motion. This paper describes the PID controller feedback structure scheme proposed for altitude control. Besides that Extended Kalman Filter (EKF) is also proposed to filter out the sensor and system noises. Finally, simulations done on MATLAB and results shows the effectiveness of the proposed method and suggest it as a promising way for real time implementation in altitude stabilization performance for quad-rotor.