Authors : Mohammad Nur, Trihastuti Agustinah and A.K. Rusdhianto Effendi
Abstract: Quadrotor is one of the Unmanned Aerial Vehicle (UAV) which is a MIMO system and has a non-linear dynamics. The nonlinearity properties of rotational motion and translational motion of quadrotor are very high and the control inputs interact each other. The interaction between the control inputs lead to system instability. This characteristic causes difficulties in tracking quadrotor automatically. Quadratic Nonlinear Tracking (NLQT) is used to overcome the problem of tracking in quadrotor with maintaining the linear nature of the matrix B. NQLT is developed from Linear Quadratic control method Tracking (LQT). The Extended Kalman Filter (EKF) is used as a state estimator to overcome the noise measurement. Based on the test results before the addition of the EKF, the proposed method provides the excellent performance of quadrotor in tracking. Quantitatively, the quadrotor can track the given reference signal with the position errors of quadrotor are 0.009 on the x-axis and 0.0099 m on the y-axis 0.0095 m for the measurement noise with zero mean and variance of 0.009. The addition of the EKF on the control system and by using the same noise properties, the position error along the x-axis and y-axis, respectively are 0.0062 and 0.0062 m.
Mohammad Nur, Trihastuti Agustinah and A.K. Rusdhianto Effendi, 2017. Tracking Control of Quadrotor using NonLinear Quadratic Tracking With Extended Kalman Filter. International Journal of Signal System Control and Engineering Application, 10: 147-152.