Quadrotor Modeling and Simulation for Industrial Application

Nakamura, Masanao; Takaya, Kenta; Ohta, Hiroshi; Shibayama, Keishi; Kroumov, Valeri

doi:10.1109/icstcc.2019.8885708

Cited by 8 publications

(4 citation statements)

References 6 publications

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“…The cross (x) configuration of the quadcopter with rotor 1 and rotor 2 rotating anticlockwise and rotor 3 and rotor 4 rotating clockwise is illustrated in Fig. 1, [12] [13]. The difference in lift force is used to generate motion by adjusting the rotor's velocity in pairs.…”

Section: Quadcopter's Descriptionmentioning

confidence: 99%

“…Based on virtual control of position theorems, the generation desired roll, 𝜙 𝑑 and pitch, 𝜃 𝑑 and stabilizing the altitude of quadcopter is obtained by position control [23]. According to the theorems equation ( 11) is redefined as equation ( 12) and equation (13) where 𝑢 1𝑑 is the output of altitude, 𝑧 control.…”

Section: Quadcopter Controller Designmentioning

confidence: 99%

“…In the process, a PID controller works in close form to calculate the difference between a set point and the desired set point and works on minimizing it by tuning the control variables [24] [25]. The relation between the error of the system and PID controller output is defined by equation (12), where equation (13) represents the difference between desired and generated output [19][21] [22] [25].…”

Section: Pid Controllermentioning

confidence: 99%

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Self-Tuning PID Controller for Quadcopter using Fuzzy Logic

Baharuddin,

Basri

2023

IJRCS

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Tracking has become a necessary feature of a drone. This is due to the demand for drones, especially quadcopters, to be used for activities such as surveillance, monitoring, and filming. It is crucial to ensure the quadcopters perform the tracking with stable flight. Despite the advantages of having VTOL ability and great maneuverability, quadcopters require an effective controller to overcome their under-actuation and instability behavior. Even though a PID controller is commonly used and promising with its simple mechanism, it requires very proper tuning to ensure the stability of the system is not affected. In this paper, a simple Fuzzy algorithm is proposed to be incorporated into a PID controller to form a self-tuning Fuzzy PID controller. The Fuzzy logic controller works as the self-adjuster to the PID parameters. A mathematical model of the DJI Tello quadcopter is derived with position and attitude control loops that are designed to track a variety of trajectories with stable flight. The proposed method uses a simple architecture where the ranges of PID parameters are used as scaling factors for Fuzzy controller outputs. The results of the simulations show the tracking error performance metrics, which are IAE, ISE, and RMSE, are smaller compared to the values of the PID controller. Beyond its impact on quadcopter control, the proposed self-tuning approach holds promise for broader applications in nonlinear systems.

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Section: Quadcopter's Descriptionmentioning

confidence: 99%

Section: Quadcopter Controller Designmentioning

confidence: 99%

Section: Pid Controllermentioning

confidence: 99%

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Self-Tuning PID Controller for Quadcopter using Fuzzy Logic

Baharuddin,

Basri

2023

IJRCS

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“…For instance, in [4], the authors proposed a Lyapunov-based control method for the stabilization around the origin, Furuta pendulum stabilization around the origin, while in [5], the authors introduced an active disturbance rejectionbased control and its stability analysis. Another exciting example of underactuated systems is the unmanned aerial vehicle (UAV) such that this kind of system has been of high interest in the present century because of wide applications for different fields such as farming, photography, exploration, and military [6][7][8]. A typical example of a UAV is the planar vertical takeoff and landing (PVTOL) aircraft, a simplified model of the actual vertical takeoff and landing aircraft [9], which encompasses almost all the dynamics found in real UAVs.…”

Section: Introductionmentioning

confidence: 99%

Controlling the PVTOL Aircraft System with an Inverted Pendular Load by means of Nested Saturation Functions and GPI Controller

Rios

Gutiérrez-Frías

Aguilar-Ibáñez

et al. 2021

Mathematical Problems in Engineering

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This paper presents a control scheme that allows height position regulation and stabilization for an unmanned planar vertical takeoff and landing aircraft system with an inverted pendular load. The proposed controller consists of nested saturations and a generalized proportional integral (GPI). The GPI controls the aircraft height and the roll attitude; the latter is used as the fictitious input control. Next, the system is reduced through linear transformations, expressing it as an integrator chain with a nonlinear perturbation. Finally, the nested saturation function-based controller stabilizes the aircraft’s horizontal position and the pendulum’s angle. Obtaining the control approach was a challenging task due to the underactuated nature of the aircraft, particularly ensuring the pendulum’s upright position. The stability analysis was based on the second method of Lyapunov using a simple candidate function. The numerical simulation confirmed the control strategy’s effectiveness and performance. Additionally, the numerical simulation included a comparison against a PD controller, where its corresponding performance indexes were estimated, revealing that our controller had a better response in the presence of unknown disturbances.

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