State Space System Modeling of a Quad Copter UAV

Tahir, Zaid; Tahir, Waleed; Liaqat, Saad Ali

doi:10.17485/ijst/2016/v9i27/96613

Cited by 16 publications

(5 citation statements)

References 3 publications

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“…State space model representation is used to make the model useful. The state space model, on the other hand, is expressed in matrix form as a combination of first-order differential equations and input, output and state variables (Tahir et al , 2019). Quadrotor model consists of nonlinear equations.…”

Section: Autopilot System and Control Algorithmmentioning

confidence: 99%

Simultaneous arm morphing quadcopter and autonomous flight system design

Kose,

Oktay,

Özen

2023

AEAT

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Purpose The purpose of this paper is to obtain values that stabilize the lateral and longitudinal flight of the quadrotor for which the morphing amount and the best Proportional-Integral-Derivative (PID) coefficients are determined by using the simultaneous perturbation stochastic approximation (SPSA) optimization algorithm. Design/methodology/approach Quadrotor consists of body and arms; there are propellers at the ends of the arms to take off and rotors that rotate them. By reducing the angle between mechanism 1 and the rotors with the horizontal plane, the angle between mechanism 2 and the arms, the rotors rise and different configurations are obtained. Conventional multi-rotor aircraft has a fixed fuselage and does not need a tail rotor to change course as helicopters do. The translational and rotational movements are provided by the rotation of the rotors of the aircraft at different speeds by creating moments about the geometric center in 6-degree-of-freedom (DOF) space. These commands sent from the ground are provided by the flight control board in the aircraft. The longitudinal and lateral flight stability and properties of different configurations evaluated by dynamic analysis and simulations in 6 DOF spaces are investigated. An algorithm and PID controller are being developed using SPSA to achieve in-flight position and attitude control of an active deformable aircraft. The results are compared with the results of the literature review and the results of the previous article. Findings With SPSA, the best PID coefficients were obtained in case of morphing. Research limitations/implications The effects of quadrotor arm height and hub angle changes affect flight stability. With the SPSA optimization method presented in this study, the attitude is quickly stabilized. Practical implications With the optimization method, the most suitable PID coefficients and angle values for the lateral and longitudinal flight stability of the quadrotor are obtained. Social implications The transition rate and PID coefficients are determined by using the optimization method, which is advantageous in terms of cost and practicality. Originality/value With the proposed method, the aircraft can change shape to adapt to different environments, and the parameters required for more stable flight for each situation will be calculated, and this will be obtained more quickly and safely with the SPSA optimization method.

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Section: Autopilot System and Control Algorithmmentioning

confidence: 99%

Simultaneous arm morphing quadcopter and autonomous flight system design

Kose,

Oktay,

Özen

2023

AEAT

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“…3. Kecepatan putar dari empat rotor yang berputar diubah secara bersamaan untuk mencapai gerakan vertikal [20].…”

Section: Gbr 3 Masukan Kendali Quadrotorunclassified

“…Representasi ruang keadaan (state space) adalah model matematis dari suatu sistem fisik sebagai himpunan variabel masukan, keluaran, dan keadaan yang terkait dengan persamaan diferensial orde pertama [20]. Ruang keadaan adalah ruang yang memiliki variabel keadaan sebagai sumbunya.…”

Section: Representasi Ruang Keadaanunclassified

Model Penahan Ketinggian Quadrotor Berbasis PID dengan Jaringan Syaraf Tiruan Propagasi Mundur

Rahani

Yulianto

2021

JNTETI

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Quadrotor adalah salah satu jenis Unmanned Aerial Vehicle (UAV) atau wahana terbang tanpa awak yang dapat terbang dengan kendali jarak jauh maupun menggunakan kendali otomatis. Dalam melakukan misinya, quadrotor memerlukan sistem kendali yang baik. Salah satu sistem kendali dalam sistem quadrotor adalah sistem kendali ketinggian. Kendali ketinggian akan mengendalikan quadrotor seusai ketinggian yang diinginkan walaupun terdapat gangguan dan beban quadrotor itu sendiri. Metode kendali yang banyak digunakan adalah kendali PID. Kendali PID menghasilkan respons yang kurang baik karena konstanta PID yang bersifat tetap, sedangkan gangguan saat quadrotor terbang akan berubah-ubah. Oleh karena itu, makalah ini menawarkan kendali yang dapat menyesuaikan diri saat terkena gangguan tertentu. Metode yang ditawarkan adalah kendali PID dengan Jaringan Saraf Tiruan (JST). Sistem JST akan menala komponen PID secara real-time sesuai gangguan yang terjadi. Penggunaan PID dengan JST menghasilkan respons rise time lebih cepat 0,0594 detik, overshoot turun 7,58%, steady state error turun ±0,0672, dan settling time turun 1,031 detik dibandingkan dengan PID konvensional. Hal ini menunjukkan bahwa PID dengan JST menghasilkan respons kendali yang lebih baik dibandingkan dengan PID saja.

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“…Despite a general principle that is relatively simple to understand, the design of such a system is rather complex and requires special attention. Indeed, UAVs, and more particularly rotary-wing UAVs such as quad-rotors, are under-actuated systems and sensitive to aerodynamic disturbances, whose dynamics are highly nonlinear [11,12]. Moreover, this presents significant coupling between the system's state variables and its control inputs.…”

mentioning

confidence: 99%

Towards Optimization of Energy Consumption of Tello Quad-Rotor with Mpc Model Implementation

Benotsmane

Vásárhelyi

2022

Energies

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For the last decade, there has been great interest in studying dynamic control for unmanned aerial vehicles, but drones—although a useful technology in different areas—are prone to several issues, such as instability, the high energy consumption of batteries, and the inaccuracy of tracking targets. Different approaches have been proposed for dealing with nonlinearity issues, which represent the most important features of this system. This paper focuses on the most common control strategy, known as model predictive control (MPC), with its two branches, linear (LMPC) and nonlinear (NLMPC). The aim is to develop a model based on sensors embedded in a Tello quad-rotor used for indoor purposes. The original controller of the Tello quad-rotor is supposed to be the slave, and the designed model predictive controller was created in MATLAB. The design was imported to another embedded system, considered the master. The objective of this model is to track the reference trajectory while maintaining the stability of the system and ensuring low energy consumption. The case study in this paper compares linear and nonlinear model predictive control (MPC). The results show the efficiency of NLMPC, which provides more promising results compared to LMPC. The comparison concentrates on the energy consumption, the tracked trajectory, and the execution time. The main finding of this research is that NLMPC is a good solution to smoothly track the reference trajectory. The controller in this case processes faster, but the rotors consume more energy because of the increased values of control inputs calculated by the nonlinear controller.

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State Space System Modeling of a Quad Copter UAV

Cited by 16 publications

References 3 publications

Simultaneous arm morphing quadcopter and autonomous flight system design

Simultaneous arm morphing quadcopter and autonomous flight system design

Model Penahan Ketinggian Quadrotor Berbasis PID dengan Jaringan Syaraf Tiruan Propagasi Mundur

Towards Optimization of Energy Consumption of Tello Quad-Rotor with Mpc Model Implementation

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