Altitude Controller Design for Quadcopter UAV
DOI:
https://doi.org/10.11113/jt.v74.3993Keywords:
Quadcopter modelling, altitude control, helicopter test, PID controller, UAV multi rotorAbstract
This paper discusses on attitude control of a quadcopter unmanned aerial vehicle (UAV) in real time application. Newton-Euler equation is used to derive the model of system and the model characteristic is analyzed. The paper describes the controller design method for the hovering control of UAV automatic vertical take-off system. In order to take-off the quadcopter and stable the altitude, PID controller has been designed. The scope of study is to develop an altitude controller of the vertical take-off as realistic as possible. The quadcopter flight system has nonlinear characteristics. A simulation is conducted to test and analyze the control performance of the quadcopter model. The simulation was conducted by using Mat-lab Simulink. On the other hand, for the real time application, the PCI-1711 data acquisition card is used as an interface for controller design which routes from Simulink to hardware. This study showed the controller designs are implemented and tuned to the real system using Real Time Windows Target approach by Mat-Lab Simulink.
References
M. D. L. C. De Oliveira. 2011. Modeling, Identification and Control of A Quadrotor Aircraft. Master’s Thesis. Czech Technical University In Prague.
S. Bouabdallah and R. Siegwart. 2007. Full Control of a Quadrotor. In Ieee/Rsj International Conference on Intelligent Robots and Systems. 1: 153–158.
T. Bresciani. 2012. Modelling, Identification and Control of A Quadrotor Helicopter. Department of Automatic Control, Lund University.
A. Guclu. 2008. Attitude and Altitude Control of an Outdoor Quadrotor. Atlim University.
B. Erginer And E. Altug. 2007. Modeling and Pd Control of a Quadrotor Vtol Vehicle. In 2007 Ieee Intelligent Vehicles Symposium. 894–899.
A. Bousbaine, M. H. Wu, And G. T. Poyi. 2012. Modelling and Simulation of a Quad-Rotor Helicopter. 6th Iet Int. Conf. Power Electron. Mach. Drives (Pemd 2012). C34–C34.
H. Lin, T. Lin, H. Yae, D. Optimization, and I. City, “- 1:35,â€. 2322–2326.
O. A. Bauchau, J. Rodriguez, And S.-Y. Chen. 2009. Modeling The Bifilar Pendulum Using Nonlinear, Flexible Multibody Dynamics. J. Am. Helicopter Soc. 48(1): 53.
Keun Uk Lee, Young Hun Yun, Wook Chang. 2011. Modeling and Altitude Control of Quad-rotor UAV. 11th International Conference on Control, Automation and Systems, , Gyeonggi-do, Korea.
I. Maybe, V. Nolte, T. Konzepte, R. Sanders, and E. Cowan. 2011. Lift and Drag. 1–9.
Andrew Neff. 2007. Linear and Non-linear Control of a Quadrotor UAV. Department of Electrical Engineering, Clemson University.
Goel R., Shah S. M., Gupta N. K.., N. Ananthkrishnan. 2009. Modeling, Simulation and Flight Testing of an Autonomous Quadrotor. Proceedings of Iceae.
Lopez G. U. 2008. Aerodynamic Parameter Identification of a Remotely Piloted Vehicles. Universidad Politénica De Madrid, Spain, Aiaa Progress In Aeronautics And Astronautics.
Pounds P., Mahony R., and Corke P. 2006. Modelling and Control of a Quadrotor Robot. In Australasian Conference on Robotics and Automation. 6: 14.
C. Balas. 2007. Modelling and Linear Control of a Quadrotor. School Of Engineering, Cranfield University.
William Selby. 2008. Sliding Mode Control For Translational Trajectory Following for a Quadrotor Vehicle.
Downloads
Published
Issue
Section
License
Copyright of articles that appear in Jurnal Teknologi belongs exclusively to Penerbit Universiti Teknologi Malaysia (Penerbit UTM Press). This copyright covers the rights to reproduce the article, including reprints, electronic reproductions, or any other reproductions of similar nature.
