Full control of a quadrotor (original) (raw)

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.

Control of a Quadrotor Mini-Helicopter via Full State Backstepping Technique

In this paper, we present a new control approach for a quadrotor mini-helicopter using the full state backstepping technique. The controller can set the helicopter track three Cartesian position and the yaw angle to their desired trajectories and stabilize the pitch and roll angles by varying the input signals of DC-motors. The quadrotor has been presented into three interconnected subsystems. The first one representing the under-actuated subsystem, gives the dynamic relation of the horizontal positions with the pitch and roll angles. The second fully-actuated subsystem represents the dynamic behavior of the vertical position and the yaw angle. The last subsystem gives the dynamic of the four rotors propeller system. The design controller methodology is based on the Lyapunov stability theory. Various simulations of a quadrotor show the good performance of the proposed control law. Finally, we present initial flight experiments where the mini-helicopter is restricted to vertical and yaw motions.

Design of Fuzzy Integral Backstepping Controller for Quadrotor And Tracking Flight path

Abstarct Quadrotor is one type of UAV for which a non-linear control model has been designed due to quadrotor in this paper. In this article, firstly the manner of quadrotor's movement has been discussed, and then quadrotor dynamic model and rotational equations which are based on the Newton Euler method have neen investigated. Moreover, quadrotor torques, transfer equations, and state space have been investigated. In this study, 6 degrees of quadrotor freedom has been explored and compared by using three controllers 1) BS controller and 2) IBS and the last of FIBS, including behavior and quadrotor altitude. Control model for quadrotor not only controls the three controllers of quadrotor act, that includes rotation around the axis (X, Y, Z), but also controls one controller of quadrotor altitude. In the next part, two controllers of disturbance have been added to control systems. Finally, the flight path would be continued by the controllers in spite of disturbance. In this paper desing three controller that one by one is good and suitable for quad rotor but at the end FIBS is more stable than the other controller. 1. INTRODUCTION Simultaneously with the development of science , technology, especially in the aerospace, industry requires the use of automatic control devices that are known to drones. More specifically, according to various applications and unique features, the desire for research and development in the field of quadrature control increase day by day. Quadrature for aerial surveillance, identification, and inspection is complicated and perilous amount of work in a wide range of environments is required. Quadrotor has a high order and multivariate non-linear system with six degrees of freedom and four motors .Quadrotors include several engines and rotors, a body, sensors and electronic boards, which have been designed during a complex process. The required force to make the quadrotor fly is generated through transferring engine power to the propellers. The nonlinear dynamic model of the quadrotor is formulated using the Newton-Euler method. The formulated model is detailed including aerodynamic effects and rotor dynamics that are omitted in much of the literature. The motion of the quadrotor can be divided into two subsystems; a rotational subsystem (attitude and heading) and a translational subsystem (altitude and x and y motion). The quadrotor is a six DOF underactuated system. The derived rotational subsystem is fully actuated, while the translational subsystem is underactuated. These fly robots being dynamically unstable, in order to be stabilized, need artificial stabilization system. To design the control system, a processor, three Giroud sensors, and a motor speed controller will be required. A quadrotor is an aerial vehicle with four rotors arranged in a symmetric, square configuration around a central hub, which houses the battery and processing components. The quadrotor propellers are not all alike. In fact, they are divided in two pairs, two pushers and two puller blades, that work in contra-rotation. As a consequence, the resulting net torque can be null if all propellers turn with the same angular velocity, thus allowing for the aircraft to remain still around its center of gravity. To change height, it is enough to increase or decrease the rate of each of the four rotors at the same time. Also, to perform a stationary hover, all four rotors should rotate at the same rate. Since both pairs of rotors spin in opposite directions, the net torque on the craft resulting from the drag of the propellers equals zero.

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.

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.

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.

A Review of Control Algorithms for Autonomous Quadrotors

Open Journal of Applied Sciences, 2014

The quadrotor unmanned aerial vehicle is a great platform for control systems research as its nonlinear nature and under-actuated configuration make it ideal to synthesize and analyze control algorithms. After a brief explanation of the system, several algorithms have been analyzed including their advantages and disadvantages: PID, Linear Quadratic Regulator (LQR), Sliding mode, Backstepping, Feedback linearization, Adaptive, Robust, Optimal, L1, H∞, Fuzzy logic and Artificial neutral networks. The conclusion of this work is a proposal of hybrid systems to be considered as they combine advantages from more than one control philosophy.

DYNAMIC MODELING AND CONTROL OF QUADROTOR VEHICLE

The control of Unmanned Aerial Vehicles (UAVs) is a very challenging field of research especially for Vertical Take-Off and Landing (VTOL) vehicles or aircrafts for their numerous advantages over the traditional airplanes and due to the rapid advances that were made in this field with the development of light weight Micro-Electromechanical System (MEMS) sensors it has become possible to build an autonomous model for a light weight quadrotor and to develop various controls for it. This paper focuses on the mathematical model of a quadrotor vehicle. A CAD model has been built for estimating mass and inertial properties of the physical model. Finally a PID controller for the proposed model is introduced then a Simulink model has been implemented for estimating the response of flight dynamics.

Modeling and development of a quadrotor UAV

2007

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.