Dynamic Analysis and Control of a Quadrocopter

Abstract

Quadrocopter is an aerial vehicle platform which has become very popular among researchers in the recent past due to the advantages it offers over conventional helicopters. Quadrocopter is very simple structure, but it is inherently unstable from aerodynamics point of view. The first step before the control stage is presenting the adequate modeling of the system dynamic. This paper presents the dynamic model of quadrocopter as regarding to Newtons Laws with kinematic equations. Presented model is simulated with Matlab-Simulink for testing translational and rotational situations. And it is figured out that; presented model is acting like a real quadrocopter. Finally a PID controller designed for stabilize the altitude of modeled quadrocopter.

Improvement of ultrasonic sensor-based obstacle avoidance system in drones

“…Some of the studies conducted on drones, their components, and obstacle avoidance in Turkey and the world are summarized below. Design and implementation of a radio frequency jammer to block the flight of drones [1], control of brushless motors used in drones [2], object tracking in drones, [3], Investigation of the effects of vibrations originating from the engine and propeller on the inertial measurement units used in determining the direction and position of the drones [4], the use of LIDAR, LIDAR-Lite, and ultrasonic sensors in obstacle avoidance applications of unmanned surface vehicles [5], improving the measurement accuracy of ultrasonic sensors used in distance measurement [6], areas of use of drones and challenges encountered [7], the use of unmanned aerial vehicles and the difficulties encountered during use [8], investigation of balance point stability in drones [9], drone design with increased maneuverability and speed [10], precision landing application with image processing methods using Pixhawk, ArduPilot, Raspberry Pi, and a low-budget camera [11], directing the drone swarm to the target using different optimization algorithms [12], routing optimization for drones to be used in cargo transportation [13], use of drones in agricultural activities [14], creating the mathematical model of the quadcopter by obtaining the equations of motion and rotation according to Newton's laws [15], quadcopter design that can carry a fire-extinguishing ball [16], improving battery performance in drones [17], estimating the remaining flight time on drones [18,19], creating a model for the battery [20], detecting the location of the drone in the face of mechanical failure and cyber-attack with an external system added to the drone's battery [21], development of an algorithm to reduce energy consumption in drones used in the commercial package works and performing autonomous flight [22], determination of battery capacity in lion batteries using artificial intelligence [23], recommendation of a system with adaptive speed and avoidance algorithm for drones [24], shortest path estimation for robot and unmanned aerial vehicles using artificial neural networks [25], automatic route determination and tracking in drones…”