Modeling and simulation of X-quadcopter control
Journal Title: International Journal for Research in Applied Science and Engineering Technology (IJRASET) - Year 2016, Vol 4, Issue 4
Abstract
Since the turn of the 19th century, air transport had taken a giant turn. It took decades to master the art of flying heavier than air objects for a variety of reasons. During those early days, air transport was considered a distant dream and one which attracted a lot of interest to dive into research. UAVs are currently in that same phase of development and lots of research is being conducted all around the world for a variety of applications. Evolution of quadcopters has hindered until very recently, because controlling four self-governing rotors has proven to be incredibly difficult and impossible without electronic aid. In order to achieve six degrees of freedom (three translational and three rotational) with only four independent inputs (rotor speeds), quadcopters are severely under-triggered. Hence rotational and translational motions are coupled. The resulting dynamic performance is highly nonlinear. This paper discusses on condensed model of quadcopter dynamics and design of a PID controller for the dynamics to follow a desired attitude and altitude for an unmanned aerial vehicle quadcopter. A simulation is performed to experiment and explore the control performances and responses of the quadcopter model. The attitude controller designs are implemented by Matlab Simulink.
Authors and Affiliations
M. L Prabha, Dr. Rani Thottungal
Keywords
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