Modeling and development of a quadrotor UAV (original) (raw)

Modelling and development of a quadrotor UAV

2015

This paper presents the conception and construction of a mini quadrotor helicopter for indoor and outdoor applications. This Unmanned Aerial Vehicle (UAV), named XSF, has a very manoeuvrable platform and is indicated to work in inaccessible spaces. Its main advantage with respect to classical 4-rotors helicopters is the ability of flipping two motors in order to obtain two more control inputs. We present its hardware architectures as well as the dynamical model used to control the UAV stabilization. The tasks scheduled by the on-board real time operating system are also introduced as well as the navigator scheme current under development. HIS paper presents the conception and construction of a mini quadrotor helicopter for indoor and outdoor applications. This Unmanned Aerial Vehicle (UAV), named XSF, has a very manoeuvrable platform and is indicated to work in inaccessible spaces such as performing inspection tasks under bridges as well as inside pipes or tanks. Its main advantage ...

Modeling and Development of a 4 Rotors Helicopter Uav

IFAC Proceedings Volumes, 2007

This paper presents the conception and construction of a mini 4 rotors helicopter for indoor and outdoor applications. The proposed UAV, named XSF, has a very maneuverable platform and is indicated to work in inaccessible spaces such as performing inspection tasks under bridges as well as inside pipes or tanks. Its main advantage with respect to classical 4 rotors helicopters is the ability of flipping two motors in order to obtain two more control inputs. This feature allows the XSF to have a better horizontal displacement or to create a yaw movement without translation. In this work we present the XSF's conception and implementation as well as its dynamic model, including the aerodynamic and gyroscopic effects.

Control of an experimental mini quad-rotor UAV

2008 16th Mediterranean Conference on Control and Automation, 2008

The design and the initial realization of control on an experimental in-door unmanned autonomous quadrotor helicopter is presented. This is a hierarchical embedded modelbased control scheme that is built upon the concept of backstepping, and is applied on an electric motor-driven quadrotor UAV hardware that is equipped with an embedded on-board computer, inertial sensor unit, as well as facilities that make it suitable to be involved in an in-door positioning system, and wireless digital communication network. This realization forms an important step in the development process of a more advanced realization of an UAV suitable for practical applications; it aims clarification of the control principles, acquiring experience in solving control tasks, and getting skills for the development of further realizations.

Modeling, simulation and flight testing of an autonomous quadrotor

… Conference and Exhibition …, 2009

Rotary-wing Unmanned Mini Aerial Vehicles (RUMAV) represent a useful class of flying robots because of their strong abilities of VTOL, high maneuverability and controllability, especially in enclosed areas. In this paper, we present the development of an autonomous four-rotor RUMAV, called Quadrotor. Starting with modeling, simulation, and control design, this paper presents the results from flight experiments conducted on a flying platform. A classical control approach (PID) is used to design the control law. Once the control algorithm is validated using simulations and 3D visualization, it is implemented on hardware and experiments on a test-rig and in free flight are conducted.

Design and construction of a quadrotor-type unmanned aerial vehicle: Preliminary results

2012 Workshop on Engineering Applications, 2012

In this paper we report the stages in the construction of a quadrotor-type unmanned aerial vehicle (UAV) from scratch. This vehicle is characterized by four rotors responsible for the generation of vertical and horizontal motions. Its design should also provide capabilities for the transport of extra payload. We describe in detail the main components used for its construction, the dynamic model and the structure used for indoor flight tests. The main rationale for its construction is to have a complex realworld platform to evaluate control algorithms.

Design and Implementation of a Quadcopter Platform

Design and Implementation of a Quadcopter Platform, 2016

An unmanned aerial vehicle also known as UAV is an unpiloted aircraft, which can be remotely either operated or flown autonomously, based on pre-programmed flight plans. They are also used in a growing number of civil applications such as aerial photography and the transport of various goods. Rotating wing (or helicopter) UAVs have the advantage above fixed wing UAVs in many ways; they are able to take off and land vertically, making it possible to hover at a fixed point. The design discussed in this report is based on the development of UAV quad rotor helicopter (Quad Copter), hardware, and control system and flight dynamics. The copter is built of electric motor driven rotors, an aluminum and fiberglass frame, an embedded on-board computer, power distribution system and various sensor units. The hardware platform utilized for the on board computer was a ATmega2560 microcontroller, with 54 Digital I/O pins, 256KB of Flash memory, 8KB of SRAM and 4KB of EEPROM.

Quadrotors in the Present Era: A Review

INFORMATION TECHNOLOGY IN INDUSTRY, 2021

The advancement in the field of aerial robotics and control engineering has created many opportunities for the utilization of Unmanned Aerial Vehicles (UAVs). Applications of UAVs from precision agriculture to delivering medicines and products at our doorsteps cannot be ignored. Quadrotors are the widely studied as sub-category of the rotor-type UAVs. Their ability to hover, vertical take-off and landing along with their small size and simple design make them suitable for many real-life applications like medicine delivery in containment zones struck with COVID-19. But under actuation caused due to four rotors to control six inputs creates instability in their flight. In this paper, Quadrotors and various Quadrotor applications are discussed. The various modeling and control techniques are discussed. Controlling techniques like LQR, LQG, PID and robust control is implemented for position, attitude and altitude control. Results for Proportional Integral and Derivative (PID) and Model...

Comparison and Implementation of Control Strategies for a Quadrotor

2017

This paper presents the comparison and implementation of state estimation and control strategies for the attitude of a quadrotor. We’ve started by developing a mathematical model for the attitude of the device using quaternions representation of attitude alongside the matrix algebra. Based on this model, we’ve proposed three different control strategies based on PID control, Feedback Linearization and Backstepping control. The controllers were implemented in the Crazyflie 1.0, an open-source development platform by Bitcraze. The results were compared to the built-in control system and an improvement could be verified. Keywords— Quadrotor, state estimation, Kalman filter, attitude control.

Design and Development of a Class of Rotorcraft-based UAV

We discuss the development of a miniquadrotor system and coaxial quadrotor system for indoor and outdoor applications. The attitude control system consists of a stability augmentation system and a modern control approach. To perform an experimental flight test, a PID controller is used to validate our aerodynamic modelling and basic electronics hardware is developed in a simple configuration. We use a low-cost 100 Hz AHRS for inertial sensing, infrared (IR) sensors for horizontal ranging, an ultrasonic sensor for ground ranging and an AVR microcontroller for the flight control computer. A ground control system is developed for the monitoring and gathering of flight data. Based on the modelling and simulation data of the mini-quadrotor system, a flight test is performed and automatic hovering ability is implemented. A collision detection system is one of the important parts of an indoor and outdoor flight test. To overcome the payload limitation of the miniquadrotor system, we design a coaxial quadrotor system and we use a Kinect sensor as the collision detect sensor. Kinect sensors give 3D depth information and the collision detection system uses that information.