Robust Backstepping Control of a Quadrotor Unmanned Aerial Vehicle Under Colored Noises

dc.authorid KARAHAN, MEHMET/0000-0002-5828-497X
dc.authorscopusid 57216759940
dc.authorwosid Karahan, Mehmet/ABD-5056-2021
dc.contributor.author Karahan, Mehmet
dc.date.accessioned 2025-02-05T18:37:29Z
dc.date.available 2025-02-05T18:37:29Z
dc.date.issued 2025
dc.department Atılım University en_US
dc.department-temp [Karahan, Mehmet] Atilim Univ, Elect & Elect Engn Dept, TR-06830 Ankara, Turkiye en_US
dc.description KARAHAN, MEHMET/0000-0002-5828-497X en_US
dc.description.abstract Advances in software and hardware technologies have facilitated the production of quadrotor unmanned aerial vehicles (UAVs). Nowadays, people actively use quadrotor UAVs in essential missions such as search and rescue, counter-terrorism, firefighting, surveillance, and cargo transportation. While performing these tasks, quadrotors must operate in noisy environments. Therefore, a robust controller design that can control the altitude and attitude of the quadrotor in noisy environments is of great importance. Many researchers have focused only on white Gaussian noise in their studies, whereas researchers need to consider the effects of all colored noises during the operation of the quadrotor. This study aims to design a robust controller that is resistant to all colored noises. Firstly, a nonlinear quadrotor model was created with MATLAB. Then, a backstepping controller resistant to colored noises was designed. The designed backstepping controller was tested under Gaussian white, pink, brown, blue, and purple noises. PID and Lyapunov-based controller designs were also carried out, and their time responses (rise time, overshoot, settling time) were compared with those of the backstepping controller. In the simulations, time was in seconds, altitude was in meters, and roll, pitch, and yaw references were in radians. Rise and settling time values were in seconds, and overshoot value was in percent. When the obtained values are examined, simulations prove that the proposed backstepping controller has the least overshoot and the shortest settling time under all noise types. en_US
dc.description.woscitationindex Science Citation Index Expanded
dc.identifier.citationcount 0
dc.identifier.doi 10.32604/cmc.2024.059123
dc.identifier.endpage 798 en_US
dc.identifier.issn 1546-2218
dc.identifier.issn 1546-2226
dc.identifier.issue 1 en_US
dc.identifier.scopus 2-s2.0-85214351022
dc.identifier.scopusquality Q2
dc.identifier.startpage 777 en_US
dc.identifier.uri https://doi.org/10.32604/cmc.2024.059123
dc.identifier.uri https://hdl.handle.net/20.500.14411/10435
dc.identifier.volume 82 en_US
dc.identifier.wos WOS:001397768800001
dc.identifier.wosquality Q3
dc.institutionauthor Karahan, Mehmet
dc.language.iso en en_US
dc.publisher Tech Science Press en_US
dc.relation.publicationcategory Makale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı en_US
dc.rights info:eu-repo/semantics/openAccess en_US
dc.scopus.citedbyCount 0
dc.subject Backstepping control en_US
dc.subject colored noises en_US
dc.subject Gaussian noise en_US
dc.subject Lyapunov stability en_US
dc.subject quadrotor en_US
dc.subject robustness en_US
dc.subject PID control en_US
dc.title Robust Backstepping Control of a Quadrotor Unmanned Aerial Vehicle Under Colored Noises en_US
dc.type Article en_US
dc.wos.citedbyCount 0
dspace.entity.type Publication

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