Quadrotors Unmanned Aerial Vehicles: A Review

Norouzi-Ghazbi, Somayeh; Aghli, Yasaman; Alimohammadi, Mahdieh; Akbari, Ali Akbar

doi:10.21307/ijssis-2017-872

Cited by 86 publications

(54 citation statements)

References 106 publications

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“…Plus configuration is considered more acrobatic structure when compared the cross configuration. Cross configuration is more stable [20], [21]. Cross configuration is usually preferred if quadcopter consist a camera [22].…”

Section: Types Of Configurarionmentioning

confidence: 99%

Comparing and Developing PID and Sliding Mode Controllers for Quadrotor

Cömert¹,

Kasnakoğlu²

2017

IJMERR

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This paper provides information about controller design for quadrotors which became an essential research topic. Sliding mode control (SMC) provides better solutions to problems that can be caused by model discrepancies. Firstly, sliding mode controllers are designed for altitude, roll, pitch and yaw angle controls. One common problem of sliding mode control, chattering is eliminated. Then, proportional integral derivative (PID) controller is developed in order to compare and discuss simulation results. Coefficients are tuned by iteration method in both PID and SMC designs. It can be interpreted that the controllers of both designs are capable of tracking the desired values. 

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Section: Types Of Configurarionmentioning

confidence: 99%

Comparing and Developing PID and Sliding Mode Controllers for Quadrotor

Cömert¹,

Kasnakoğlu²

2017

IJMERR

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“…Quadrotor, vertical landing take-off, hanging in the air, high maneuverability, although complex as a control system, structurally simple, rotating wing unmanned aerial vehicle. In the last decade, interest in unmanned aerial vehicles(UAVs) and their design and control has exponentially increased [1], due to their capability to carry out several complex tasks, in addition to their low cost production and relatively simple operation [2]. Quadrotor is used in hobby, photography, agriculture, research in civil field.…”

Section: Introductionmentioning

confidence: 99%

Quadrotorlarda Yaw Hareketi için Eşzamanlı Olmayan Başkalaşım Tasarımı

Köse

Oktay

2019

Journal of Aviation

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Quadrotors are unmanned aerial vehicles that are frequently used in military and civilian applications. In this study, the modeling, control and variable geometry of the quadrotor's yaw motion are discussed non simultaneous. Mathematical modeling and simulation of an unmanned air vehicle, specifically, quadrotor modeling is not an easy task because of its complex structure, non-lineardynamics and under-actuated nature. Quadrotor has a non-linner structure but the system has been converted to linear structure by using various methods. Linear expressions are expressed by state space model. Simulation was performed in Matlab / Simulink environment using state space model. PID algorithm was used as control system. In the simulations, both without morphing results and morphing results were obtained and compared. The main purpose of this study is to examine the effect of morphing on a quadrotor modeled as realistic as possible on yaw motion.

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“…The quadrotor shares with the helicopter the hovering and vertical take-off and landing capabilities. This class of rotorcraft is becoming increasingly popular in numerous commercial and military applications [1].…”

Section: Introductionmentioning

confidence: 99%

Quadrotor Control Via Robust Generalized Dynamic Inversion and Adaptive Non‐Singular Terminal Sliding Mode

Ansari

Bajodah

Hamayun

2018

Asian Journal of Control

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A robust two-loops structured control system design for quadrotor's position/attitude trajectory tracking is proposed. The aim of the outer loop is to provide the roll/pitch tilting commands to the inner loop, which in turns generates the tilting angles that control the quadrotor's center of gravity in the horizontal plane. The outer loop utilizes Robust Generalized Dynamic Inversion (RGDI) of a prescribed asymptotically stable differential equation in the deviation function of the horizontal position coordinates from their reference trajectories. The inner loop employs an Adaptive Non-singular Terminal Sliding Mode (ANTSM) to control the tilting angles, in addition to controlling the yaw attitude angle and the vertical position coordinate. The proposed scheme solves the singularity avoidance problems of generalized inversion and terminal sliding mode control. The stability of outer and inner loop is ensured by utilizing positive definite Lyapunov energy function for stable tracking performance against parametric variations and bounded unknown external disturbances. Numerous simulations are conducted on a six Degrees of Freedom (DoF) quadrotor model in the presence of parametric variations, un modeled dynamics, and external disturbances.

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Quadrotors Unmanned Aerial Vehicles: A Review

Cited by 86 publications

References 106 publications

Comparing and Developing PID and Sliding Mode Controllers for Quadrotor

Comparing and Developing PID and Sliding Mode Controllers for Quadrotor

Quadrotorlarda Yaw Hareketi için Eşzamanlı Olmayan Başkalaşım Tasarımı

Quadrotor Control Via Robust Generalized Dynamic Inversion and Adaptive Non‐Singular Terminal Sliding Mode

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