Dynamic Analysis and Control of a Quadrocopter

Abstract:

Quadrocopter is an aerial vehicle platform which has become very popular among researchers in the recent past due to the advantages it offers over conventional helicopters. Quadrocopter is very simple structure, but it is inherently unstable from aerodynamics point of view. The first step before the control stage is presenting the adequate modeling of the system dynamic. This paper presents the dynamic model of quadrocopter as regarding to Newtons Laws with kinematic equations. Presented model is simulated with Matlab-Simulink for testing translational and rotational situations. And it is figured out that; presented model is acting like a real quadrocopter. Finally a PID controller designed for stabilize the altitude of modeled quadrocopter.

• Periodical: Applied Mechanics and Materials (Volume 421)
• Pages: 616-622
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.421.616
• Online since: September 2013
• Authors: Erman Selim, Erol Uyar, Musa Alcı
• Keywords: Dynamic Modelling, Flight Simulation, PID, Quadrocopter

References

[1] N. Kundak and B. Mettler: Experimental Framework for Evaluating Autonomous Guidance and Control Algorithms for Agile Aerial Vehicles, European Control Conference, (2007), p.293–300.

DOI: 10.23919/ecc.2007.7068647

[2] M. Valenti, B. Bethke, G. Fiore, J. P. How and E. Feron: Indoor Multi-Vehicle Flight Testbed for Fault Detection, Isolation, and Recovery, AIAA Guidance, Navigation and Control Conference and Exhibit, (2006).

DOI: 10.2514/6.2006-6200

[3] S. L. Waslander, G. M. Hoffman, J. S. Jang and C. J. Tomlin: Multi-Agent Quadrotor Testbed Control Design: Integral Sliding Mode vs. Reinforcement Learning, IEEE/RSJ International Conference on Intel-ligent Robots and Systems, (2005), p.3712–3717.

DOI: 10.1109/iros.2005.1545025

[4] B. Samir, M. Pierpaolo and S. Roland: Towards Autonomous Indoor Micro VTOL, Autonomous Robots, (2005), vol. 18, no. 2, p.171–183.

DOI: 10.1007/s10514-005-0724-z

[5] R. Sugiura, T. Fukagawa and N. Noguchi: Field Information System Using an Agricultural Helicopter towards Precision Farming, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, (2003), p.1073–1078.

DOI: 10.1109/aim.2003.1225491

[6] Muhammad SaadShaikh: Quadrocopter Fuzzy Flight Controller, Master's Thesis, Örebro University.

[7] F. Šolc: Modelling and Control of a Quadrocopter, Advances in Military Technology Vol. 5, No. 2, December (2010).

[8] Jorge Miguel BritoDomingues: Quadrotor prototype, Master Thesis, UniversidadeTecnica de Lisboa.

[9] Tepp o Luukkonen: Modelling and control of quadcopter, Aalto University, Independent research project in applied mathematics Espoo, August 22, (2011).

[10] Frank Hoffmann, NiklasGoddemeier, Torsten Bertram: Attitude estimation and control of a quadrocopter, IEEE/RSJ International Conference on Intelligent Robots and Systems October 18-22, (2010), Taipei, Taiwan.

DOI: 10.1109/iros.2010.5649111