Dynamic Modeling for a Miniature Six-Rotor Unmanned Aerial Vehicle

Abstract:

A nonlinear dynamic model of a miniature Six-Rotor is presented. A 4 channels PID controller is designed to operate the under actuated and dynamically unstable system with 6 inputs. Driving forces of 6 rotors are divided into four components such as throttle, roll, pitch and yaw. The control algorithm is simulated with Design Optimization Toolbox in Matlab. After observing the corresponding responses of Euler angles, the altitude and the driving force for each motor, the simulation results show good performance.

• Periodical: Applied Mechanics and Materials (Volumes 321-324)
• Pages: 819-823
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.321-324.819
• Online since: June 2013
• Authors: Qi Dong Ma, Zhen Guo Sun, Jing Ran Wu, Wen Zeng Zhang
• Keywords: Control Allocation, Hex6 Configuration, PID Controller, Six-Rotor UAV

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