@inproceedings{a4980fbefa564310988a4e7736f3724f,
title = "Controller Design and Analysis for Octorotor UAVs",
abstract = "Radar applications that include emergency rescues and natural disasters damage evaluations are critical and difficult to be done by humans. It was proposed to use small Unmanned Aerial Vehicles (UAVs) in such applications because a UAV does not require a human pilot in it. In this work, an Octorotor with an altitude and attitude controller and observer are designed to control the vertical take-off and landing of the Octorotor is proposed. In addition, after reaching a certain altitude, a trajectory controller is designed using linear quadratic regulator (LQR) controller to move the Octorotor in x-, y-directions and to allow a translational movement at a constant velocity. Finally, a simulation was done to experiment the behaviour of the system under wind disturbance. A linearized model was extracted from the nonlinear model of the Octorotor. The results of both controllers clearly outperformed previous work. The model results were obtained via MATLAB/Simulink.",
keywords = "Altitude and attitude, Full-state Controller, Linear Quadratic Regulator, Observer, Octorotor, Radar application, Trajectory tracking, Unmanned aerial vehicle",
author = "Mohamad Alansari and Ahmed Elshamy and Ahmed Abughali and Khalid Alhammadi",
note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 2022 International Conference on Electrical and Computing Technologies and Applications, ICECTA 2022 ; Conference date: 23-11-2022 Through 25-11-2022",
year = "2022",
doi = "10.1109/ICECTA57148.2022.9990041",
language = "British English",
series = "2022 International Conference on Electrical and Computing Technologies and Applications, ICECTA 2022",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "103--108",
booktitle = "2022 International Conference on Electrical and Computing Technologies and Applications, ICECTA 2022",
address = "United States",
}