2010 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) 2010
DOI: 10.1109/aqtr.2010.5520914
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Modelling and PID controller design for a quadrotor unmanned air vehicle

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Cited by 231 publications
(102 citation statements)
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“…Quadcopter UAV is defined as a small vehicle with four rotor-propeller sets distributed around its body [1]. It is a highly nonlinear, multi input multi output (MIMO), extremely coupled and underactuated system [2].…”
Section: Introductionmentioning
confidence: 99%
“…Quadcopter UAV is defined as a small vehicle with four rotor-propeller sets distributed around its body [1]. It is a highly nonlinear, multi input multi output (MIMO), extremely coupled and underactuated system [2].…”
Section: Introductionmentioning
confidence: 99%
“…: Vertical Take-Off and Landing (VTOL), maneuvers and altitude stabilization [3,6], while others are focusing in the development of control algorithms. Many control algorithms have been developed for a Quadrotor, such as the classic Propositional Integral Derivative (PID) controller, Linear Quadratic (LQR) Algorithm, and Back stepping control algorithms [2,[7][8][9][10]. These classical controllers, i.e., the PID and LQR algorithms, however, are not suitable for a nonlinear systems, while, back stepping control algorithms had shown poor performance in terms of its robustness.…”
Section: Introductionmentioning
confidence: 99%
“…The resultant forces of the weight, W, act at the mass centre of each element and point downwards towards the ground (WS1, WS2, WS3, WS4 and WSTR in Figure 2). Since the vehicle is considered symmetric, the translational drag (TD) is supposed to act at the centre of the structure and is proportional to the linear speed of it (Park et al 2005), (Patel et al, 2012), through a drag coefficient which usually has values between 0.0005 Ns/m and 0.01 Ns/m (Bouadi et al, 2011), (Salih et al, 2010) for quadrotors of similar dimensions. The aerodynamic force acting on the blades is provided by the pressure and shear distributions over the object's surface, both of them appear due to the relative displacement between the object and the surrounding airflow.…”
Section: Quadrotor Dynamic and Aerodynamic Behaviourmentioning
confidence: 99%