Position Control Using Trajectory Tracking and State Estimation of a Quad-rotor


Çanakkale Onsekiz Mart Üniversitesi Fen Bilimleri Enstitüsü Dergisi, vol.9, no.4, pp.1005-1019, 2023 (Peer-Reviewed Journal) identifier


Quad-rotor aircrafts are unmanned aerial vehicles that have gained significant popularity in recent years and have been developed for use in many areas. Such vehicles are capable of vertical take-off and landing and are used in various applications. To operate a quad-rotor aircraft efficiently and safely, fundamental issues such as mathematical modeling, control, and state estimation need to be studied. Mathematical modeling is the creation of a holistic model of the various subsystems of the aircraft including aerodynamic, kinematic, dynamic and control systems. The control system is a mechanism used for the aircraft to perform the desired movements. State estimation techniques are used to obtain and predict information about the state of the aircraft. This study includes position control using a trajectory generation algorithm. Attitude estimation of the quad-rotor is improved with the Explicit Complementary Filter (ECF) and the state estimations is improved with the Extended Kalman Filter (EKF). Different from other studies, the results are obtained by feeding the model with a state estimation filter. The per-formances of the filters used for state estimation are compared.