Position Controller Design for Quad-rotor under Perturbed Condition

There are number of failures are recorded in UAV projects because of its non-linearity nature. In Quad-rotor type Unmanned Aerial Vehicles, position controlling is one of the most critical tasks and suitable Position stabilization controller is the essential part of these types of unmanned systems. In this paper a position stabilization (i.e. x and y axes) control with noise rejection system is presented for the quad-rotor type UAV under perturbation conditions. The proposed controller is based upon Auto-tuned PID controller with extended Kalman filter for Position stabilization controlling under noisy and external disturbance conditions. Extended Kalman filter is used to filter out the sensor noises and provide more accurate feedback signal to the PID controller. The proposed control technique is simulated on Quad-rotor’s nonlinear mathematical model under perturbed and unperturbed conditions for its position controlling using MATLAB environment. Simulation results shows that proposed controller performed well and quickly maintains quad-rotor position under perturbed conditions.