Effect of alpha value change on thrust quadcopter Qball-X4 stability testing using backstepping control

3rd Annual Applied Science and Engineering Conference

工业技术;自然科学

Nugraha, A.T.^1 ; Anshory, I.^1 ; Rahim, R.^2

Electrical Engineering, Universitas Muhammadiyah Sidoarjo, Jl. Mojopahit, Celep, Kec. Sidoarjo, Kabupaten Sidoarjo, Jawa Timur

61271, Indonesia^1

School of Computer and Communication Engineering, Universiti Malaysia Perlis, Kubang Gajah, Malaysia^2

关键词: Back-stepping controls;    Back-stepping method;    Quad rotors;    Quadcopter;    Roll angle;    Setpoints;    Stability testing;    Steady state;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/434/1/012207/pdf
DOI  :  10.1088/1757-899X/434/1/012207

来源: IOP

【 摘 要 】

Quadrotor or commonly referred to quadcopter or drone, has 4 kinds of movements. One of those movements is the impulse of the movement. In this study, a QBall-X4 quadcopter controller is using a backstepping control system to achieve movement that can reach the height when doing thrust. The results showed that the backstepping method can adjust the height and stabilize the roll angle, pitch and yaw, by adjusting alpha value (a stabilizer constant). The more precisely the alpha value of the system is more stable and the response to reach steady state is faster, with small errors. At setpoint 0 to 3 condition an error of 0.0216.