Quadrotors in the Present Era: A Review (original) (raw)

Modelling and PID controller design for a quadrotor unmanned air vehicle

2010

this paper presents the modelling of a four rotor vertical take-off and landing (VTOL) unmanned air vehicle known as the quadrotor aircraft. The paper presents a new model design method for the flight control of an autonomous quad rotor .The paper describes the controller architecture for the quadrotor as well. The dynamic model of the quad-rotor, which is an under actuated aircraft with fixed four pitch angle rotors, will be described. The Modeling of a quadrotor vehicle is not an easy task because of its complex structure. The aim is to develop a model of the vehicle as realistic as possible. The model is used to design a stable and accurate controller. This paper explains the developments of a PID (proportionalintegral-derivative) control method to obtain stability in flying the Quad-rotor flying object. The model has four input forces which are basically the thrust provided by each propeller connected to each rotor with fixed angle. Forward (backward) motion is maintained by increasing (decreasing) speed of front (rear) rotor speed while decreasing (increasing) rear (front) rotor speed simultaneously which means changing the pitch angle. Left and right motion is accomplished by changing roll angle by the same way. The front and rear motors rotate counter-clockwise while other motors rotate clockwise so that the yaw command is derived by increasing (decreasing) counter-clockwise motors speed while decreasing (increasing) clockwise motor speeds.

Quad-Rotor UAV: High-Fidelity Modeling and Nonlinear PID Control

AIAA Modeling and Simulation Technologies Conference, 2010

Quad-rotor helicopter is an Unmanned Aerial Vehicle (UAV), whose lift is generated by four rotors located on the corner of X-shape. Due to simplicity of its dynamics and its ability to hover, quadrotor helicopter becomes as a popular platform for UAV. Current designs mostly consider a linear model for controller design. In this paper, we derivate nonlinear dynamic equations of the quadrotor UAV for the hovering motion from basic Newton's second law. Nonlinear Proportional Integral Derivative (PID) controller is proposed to control the quad-rotor UAV. This controller uses the speed and the orientation of each propeller in hovering motion of the quad-rotor UAV. A number of trajectories are used to demonstrate the effectiveness of the designed controller.

Modeling, Identification and Control of a Quadrotor Aircraft

The present work refers to the mathematical modeling, experimental identification and control design of a small unmanned indoors quadrotor aircraft, at low translational speeds around the hovering condition, where the aerodynamic forces on the airframe are disregarded. A Kalman filter is implemented for state estimation and noise filtering. Linear control techniques such as PID, LQ as well as modern robust mixed-sensitivity H ∞ and µ-synthesis with DK-iteration are employed and compared with each other in terms of flight trajectory reference tracking and parametric and model uncertainty.

Construction and PID Control for Stability of an Unmanned Aerial Vehicle of the Type Quadrotor

2013 Latin American Robotics Symposium and Competition, 2013

This paper presents the development of an unmanned aerial vehicle of type quadrirotor, its dynamic model, besides simulations and tests of a PID controller for the projected structure embedded stabilization (vertical direction motion). This vehicle is characterized by having four motors, which are responsible for generating the platform movement. This work objective is to show a structure, type quadrotor, development (design and construction), presenting a mathematical model of quadrotor based on the Newton-Euler formalism and a microcontroller system project used for the PID controller, used for stabilization and driving the motors, as well as the classical PID controller simulation in Simulink®/Matlab environment and the tests in the developed structure.

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.

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 ...

Flight PID controller design for a UAV quadrotor

Scientific Research and Essays , 2010

This paper presents the modeling of a four rotor vertical take-off and landing (VTOL) unmanned air vehicle known as the quad rotor aircraft. The paper presents a new model design method for the flight control of an autonomous quad rotor. The paper describes the controller architecture for the quad rotor as well. The dynamic model of the quad-rotor, which is an under actuated aircraft with fixed four pitch angle rotors was described. The Modeling of a quad rotor vehicle is not an easy task because of its complex structure. The aim is to develop a model of the vehicle as realistic as possible. The model is used to design a stable and accurate controller. This paper explains the developments of a PID (proportional-integral-derivative) control method to obtain stability in flying the Quad-rotor flying object.The model has four input forces which are basically the thrust provided by each propeller connected to each rotor with fixed angle. Forward (backward) motion is maintained by increasing (decreasing) speed of front (rear) rotor speed while decreasing (increasing) rear (front) rotor speed simultaneously which means changing the pitch angle. Left and right motion is accomplished by changing roll angle by the same way. The front and rear motors rotate counter-clockwise while other motors rotate clockwise so that the yaw command is derived by increasing (decreasing) counter-clockwise motors speed while decreasing (increasing) clockwise motor speeds.

Quadrotor helicopter flight dynamics and control: Theory and experiment

… , Navigation, and Control …, 2007

Quadrotor helicopters are emerging as a popular platform for unmanned aerial vehicle (UAV) research, due to the simplicity of their construction and maintenance, their ability to hover, and their vertical take off and landing (VTOL) capability. Current designs have often considered only nominal operating conditions for vehicle control design. This work seeks to address issues that arise when deviating significantly from the hover flight regime. Aided by well established research for helicopter flight control, three separate aerodynamic effects are investigated as they pertain to quadrotor flight, due to vehicular velocity, angle of attack, and airframe design. They cause moments that affect attitude control, and thrust variation that affects altitude control. Where possible, a theoretical development is first presented, and is then validated through both thrust test stand measurements and vehicle flight tests using the Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC) quadrotor helicopter. The results enabled improved controller performance.

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 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.