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As the quadcopters industry grows exponentially each year. A reliable controller is needed to stabilize the quadcopter attitude and to follow a desired trajectory while considering the surrounding environment. The main challenge in controlling a quadcopter is the fact that it is a nonlinear system. Moreover, it's prone to disturbances. Thus, A mathematical model of the quadcopter was derived. Next,...
Use of unmanned aerial vehicles is considered as one of the means which performs infrastructure inspection. Since the operation from GPS or the outside is not needed but the method by a quadrotor with a tether can perform the position control of the airframe, it can be used for the inspection of infrastructures, such as a tunnel and a bridge. In this research, it aims to develop and control a camera...
In this paper, a robust integral sliding mode controller is designed for the position and attitude control of an autonomous quadrotor with under-actuated characteristics. The designed controller can stabilize the pitch angle and roll angle while the three position and yaw angle could converge to the desired values. Furthermore, the flight controllers are derived via the Lyapunov theory, which can...
In this paper, a simple and robust speed estimator and Pseudo Derivative Feedback (PDF-PDF) controller are proposed for sensorless PMSM drive to improve its performance at standstill and low speed regions. The speed estimator is formed using stator flux and electromagnetic torque based model reference adaptive system, which performs better during transient conditions and reduces steady state error...
Quadrotor robots for indoor travel collide with walls and obstacles, and people around them may be dangerous. In this study, we describe attitude control and rigid control algorithm of quad rotor robot when propeller is broken. Basically, the quadrotor robot is controlled with a double PID algorithm. If one propeller is broken, the situation is recognized using the IMU sensor signal, and the robust...
This paper studies on the dynamics model and control method of quad-rotor UAV for research. Firstly analyzes the dynamic characteristic of quad-rotor UAV and establishes the nonlinear dynamics model of quad-rotor UAV; and then applies the PID control to three channels of pitch, roll and yaw based on the established model, and the simulation results show that PID control is effective for the quad-rotor...
This paper presents a fault-tolerant PD tracking system for Multirotor Aerial Vehicles (MAV) based on a novel Recursive Least Squares (RLS) Fault Detection and Isolation (FDI) algorithm utilized to diagnose propulsion system faults. As a test platform we investigate an octorotor model, including rigid body dynamics, the gyroscopic effect and motor dynamics. A hover configuration control is extended...
This paper introduces the fuzzy-PD controller, a novel approach of controlling a quadcopter, which is based on the Euler-Newton equations. The proposed fuzzy-PD includes a PD controller and a fuzzy system that adjusts the PD controller gains for stabilizing the quadcopter. It is an approach that applies a fuzzy concept to control a quadcopter. The proposed approach has been simulated and analyzed...
To deal with the position and attitude tracking control problem of a quadrotor unmanned aerial vehicle (UAV), the proportional-derivative (PD) and integral sliding mode techniques are adapted to design a double-loop controller in this paper. Firstly, the system model of quadrotor is established according to the Lagrange formalism. Then, a PD control method is put forward in the outer-loop to achieve...
The rotor orientation detection of permanent magnet spherical motor (PMSM) is crucial to the closed-loop control. The paper presents vision-based method to measure the rotor orientation of PMSM. The pattern code generation, deriving method and pattern processing algorithm are introduced. The simulation in OpenGL is carried out. Combined with complete nonlinear dynamic model and adaptive PD controller,...
Quadrotor or popularly known as quadcopter is an unmanned flying robotic platform that is driven by four fixed rotors. Quadrotors serve as a perfect flying platform in an anonymous and intricate environments eliminating the need to jeopardize human life in such hazardous situations. Apart from serving as a stable flight stage, these can do breathtaking acrobatic and complex maneuvers that are beyond...
The purpose of this paper is to present a brief comparison between a conventional hexacopter and a cant angle hexacopter. A conventional hexacopter has got all its 6 rotors fixed and thrusted upwards in the body frame which gives it a decoupled 4 DOF motion or a coupled 6 DOF motion. But a cant angle hexacopter has all its six rotors canted at an angle tangentially to the radius of the frame. It provides...
The paper presents laboratory model of aerial vehicle. The plant design, construction and building was a part of a project in the course on autonomous mechatronic systems. The goal was to make an exercise in mechatronics, resulting in plants which could be used in other project or classes.
The PID controllers featured in several commercial and industrial quadcopters present a simple framework which trivializes the control configuration process for these systems. However, since PID gains remain unchanged throughout the entire flight operation, only a single flight configuration is available for the quadcopter to move around. In order to give more flexibility to this control system, a...
In this paper, the results of the simulation of a fuzzy controller applied to a Vertical Takeoff and Landing (VTOL) are presented. For this design, the ground aerodynamic effect is considered to stablish the member functions and the linguistic rules for the fuzzy system. A direct fuzzy controller with an integrator stage structure is proposed in order to enhance the error in steady-state and obtain...
This paper presents the results of simulation of several model based and model free attitude controllers of quad-rotor UAVs with an aim to find a simple and effective one suitable for the UAV developed in our lab. The backgrounds of the controllers are also described.
In order to simplify the debugging process of magnetically suspended rotor system, a control method combined traditional PID control with internal model control (IMC) was proposed in this paper. Compared with the PID control with three adjustment parameters, the adjustment parameters of the IMC-PID is reduced to one. The simulation results show that the proposed method not only suppresses the overshoot,...
This paper proposed the development of an autonomous unmanned aerial vehicle (UAV) which is controlled by wireless technology through graphical user interface (GUI). This proposed design capable to fly autonomously and also capable to track pre loaded mission automatically. Proposed mathematical model and artificial algorithm control technique by which quad rotor can capable to fly autonomously, trajectory...
This paper describes mechanism the quadcopter with on-board sensors. This quadcopter consists of four rotors, four straight legs, and a disk-shaped body. The body is mainly composed of a lightweight, very rigid carbon fiber reinforced polymer (CFRP) and resin composite. A 9-axis inertial measurement unit (IMU) that contains accelerometer and gyroscope and magnetometer is installed in the body to measure...
A sliding mode controller is proposed for the robust control of both the position and attitude of a quadrotor. The design is tested in simulation. The performance is compared with a proportional plus derivative controller. The robustness of the design is also tested for parametric uncertainty. The effect of disturbances is also investigated. It is found that the sliding mode controller provides good...
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