Design of stable flight of nonlinear controller for quadrotor form UAV
74 viewsDOI:
https://doi.org/10.54939/1859-1043.j.mst.96.2024.61-67Keywords:
UAV; Quadrotor; PID; Modeling.Abstract
This article presents a method for designing a nonlinear controller for unmanned aircraft. This method uses a nonlinear model of a quadrotor UAV and a cascading two-loop control structure. The speed control loop is used to adjust the speed of the motors, the angle control loop is used to adjust the rotation angle of the UAV. By using the theory of cascade control system, the stability of the system has been proved. Using simulink matlab environment to simulate flight trajectory for UAV. The results show that the control system can control the UAV from takeoff, flying with different trajectories until landing in a stable way.
References
[1]. Bouzgou Kame, Bestaoui Yasmina, Benchikh Laredj, Ibari Benaoumeur, Ahmed-Foitih Zoubir. “Dynamic Modeling, Simulation And PID Controller Of Unmanned Aerial Vehicle UAV”. The Seventh International Conference On Innovative Computing Technology, (2017). doi: 10.1109/INTECH.2017.8102445. DOI: https://doi.org/10.1109/INTECH.2017.8102445
[2]. Xuancen Liu, Yueneng Yang, Chenxiang Ma, Jie Li and Shifeng Zhang. “Real-Time Visual Tracking of Moving Targets Using a Low-Cost Unmanned Aerial Vehicle with a 3-Axis Stabilized Gimbal System”. Applied sciences. 10(15), 5064, (2020); doi.org/10.3390/app10155064. DOI: https://doi.org/10.3390/app10155064
[3]. Vít Krátký, Pavel Petráček, Tomáš Báča, Martin Saska. “An autonomous unmanned aerial vehicle system for fast exploration of large complex indoor environments”. Journal of Field Robotics. Volume38, Issue8. Pages 1036-1058, (2021). doi.org/10.1002/rob.22021. DOI: https://doi.org/10.1002/rob.22021
[4]. Pei-Hsiang Chung, Der-Ming Ma and Jaw-Kuen Shiau. “Design Manufacturing and Flight Testing of an Experimental Flying Wing UAV”. Open Access. 9(15), 3043, (2019); doi.org/10.3390/app9153043. DOI: https://doi.org/10.3390/app9153043
[5]. Ghulam Farid, Hongwei Mo, Asad H. Baqar and Syed M. Ali. “Comprehensive Modelling And Static Feedback Linearization-Based Trajectory Tracking Control Of A Quadrotor Uav”. Mechatronic Systems and Control (2018). DOI: https://doi.org/10.2316/Journal.201.2018.3.201-2846
[6]. Anli Lim · Bharath Ramesh · Yue Yang · Cheng Xiang · Zhi Gao · Feng Lin. “Real Time Optical flow-based Video Stabilization for Unmanned Aerial Vehicles”. Journal of Real-Time Image Processing. Volume 16, pages 1975–1985 (2019). DOI: https://doi.org/10.1007/s11554-017-0699-y
[7]. Felipe Ribas Silva De Azevedo. “Complete system for quadcopter control”. Thesis, Universidade Federal Do Rio Grande Do Sul (2014).
[8]. Fernando H.C.T.E , De silva A.T.A, De Zoysa M.D.C, Dilshan, Munasinghe S.R, “Modelling, simulation and implementation of a quadrotor UAV”. IEEE 8th International Conference on Industrial and Information Systems, (2013). doi: 10.1109/ICIInfS.2013.6731982. DOI: https://doi.org/10.1109/ICIInfS.2013.6731982
[9]. Sepulcre R, Jankovic M, Kokotovic P. “Constructive nonlinear control”. Communications and control engineering series. Springer, Berlin (1997).
[10]. İsmail Hakkı Şahin and Coşku Kasnakoğlu kasnakoglu. “A stability-guaranteed smooth-scheduled MIMO robust emergency autopilot for a lateral surface jammed UAV”. Proceedings of the Institution of Mechanical Engineers. Volume 232, Issue 12, (2017). doi.org/10.1177/0954410017714291. DOI: https://doi.org/10.1177/0954410017714291
