Stabilized Controller Design for Attitude and Altitude Controlling of Quad-Rotor Under Disturbance and Noisy Conditions

This article presents a control approach to obtain the better stabilization in attitude and altitude o f quad-rotor under different disturbance conditions. In the stan dard Quad-rotor rotor type UAV, controlling of atti tude and altitude is one of the most critical tasks and appr opriate controller for stabilization of UAV is esse ntial and necessary. These two controls under various conditi ons of disturbances was a field of research stimula ting for the researchers. The controller proposed is contingent on the PID feedback structure with Extended Kalman Filter (EKF). From Lyapunov Stability Theorem, it is proved that quad-rotor proposed altitude control system is asymptotic as well exponentially stability. Extende d Kalman Filter (EKF) is used to filter out the sen sors and system noises. Finally, the simulations carried out on MATLAB and the result proved the effectiveness of proposed recommended method for stabilization of attitude and altitude of quad-rotor.