Application of IoT Quadrotor Dynamics Simulation

Abstract

With the development of consumer-grade drone products, drones have been good carriers for many IoT (Internet of Things) applications, especially as a part of edge computing to deliver things, collect data, or monitor objects. This paper develops a Unity3D-based quadrotor dynamics simulation component on the original platform. In order to complete the simulation, a force analysis is performed for the quadrotor to establish a physical model based on Newtonian mechanics and Euler angles, and a PID (Proportion Integral Differential)-based control model is developed based on this physical model, which performs a fixed-point control for the simulation. The component introduces weather impact factors into the physical model through an environmental computational model and presents weather effects to the user interface. In addition, we add a scene customization function and a multi-aircraft formation flight function to the original simulation, and optimize the interface presentation scheme for multi-aircraft formation flight. The quadrotor simulation model in this paper solves the problem that the original simulation system is not realistic enough and significantly improves the usability and stability of quadrotors working in the IoT area.

Approximate optimal control design for quadrotors: A computationally fast solution

“…where k i > 0 and l i > 0 are user-defined and real-valued parameters (i = 1, … , ∞). Substituting ( 23) into (19), a general equation for…”

“…16 (2) 𝜖 i can overcome the potential problem of large initial control gain because the state-dependent terms A(x) and g(x) on the right-hand side (RHS) of the Equations ( 17)-( 19) may cause large magnitude of T i (x, 𝜃) if the initial states are large. Suppose there is no 𝜖 i (t) or D i in ( 17)- (19).For example, in (17), if there exists a cubic term in A(x) and the initial x is large, this large value will be reflected in the solution of T 1 . Since T 1 and A(x) will be used in solving for T 2 in the ensuing Equation (18), this large value will be propagated and amplified in T 2 and subsequent T i , i = 3, … , which will cause a large control gain or even instability.…”

“…The attitude dynamics and control of quadrotor UAVs are usually based on Euler angles. [19][20][21][22][23] Although the Euler angles provide a clear description of attitude of aerial systems, they suffer from the singularity problem when Euler angles pass 𝜋∕2(rad) in large angular maneuvers. Quaternion is a singularity-free attitude description that can replace Euler angles.…”

“…The proposed finite‐time $$$ \theta $$$‐$$$ D $$$ control is applied to flight control of a quadrotor UAV based on quaternion dynamics. The attitude dynamics and control of quadrotor UAVs are usually based on Euler angles 19‐23 . Although the Euler angles provide a clear description of attitude of aerial systems, they suffer from the singularity problem when Euler angles pass $$$ \pi /2\left(\mathrm{rad}\right) $$$ in large angular maneuvers.…”

Quadrotor Trajectory-Tracking Control with Actuator Saturation

“…Quadrotor UAVs have been widely researched and applied because of their simple structure and vertical take-off and landing abilities [1][2][3]. The stability control of quadrotors includes hovering control and trajectory tracking control.…”