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Journal articles on the topic 'Mathematical model of quadcopter'

Author: Grafiati

Published: 4 June 2021

Last updated: 5 February 2022

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1

Salma, N. M., and Khairuddin Osman. "Modelling and PID control system integration for quadcopter DJI F450 attitude stabilization." Indonesian Journal of Electrical Engineering and Computer Science 19, no. 3 (2020): 1235. http://dx.doi.org/10.11591/ijeecs.v19.i3.pp1235-1244.

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<p><span style="font-family: Times New Roman;">In this paper we focus on the overall overview of the mathematical modelling of the DJI F450 UAV quadcopter, the hardware and software system integration based on PID control system for the attitude feedback. The parameter specification of the DJI F450 is fed into the mathematical model and implement a basic PID for the system. Future research using the DJI F450 model can benefit from this observation by implementing the modelling and tune in their own variable that varies, such as the overall of their weight. The data of PID control s

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PASHAYEV, Adalat, and Elkhan SABZIEV. "Refinement of the parameters of a mathematical model of quadcopter dynamics." Scientific Journal of Silesian University of Technology. Series Transport 109 (December 1, 2020): 141–51. http://dx.doi.org/10.20858/sjsutst.2020.109.13.

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Errors in the calculation of the parameters of quadcopter control models at design stage significantly change the desired aerodynamic properties of the drone and make it difficult to control its flight along the intended path. Therefore, to calculate the adequate operation modes of the blades, it becomes necessary to refine some parameters of the mathematical model of the drone as accurately as possible. This paper shows the possibility of using control parameters (rotational speed of the blades) and information received from navigation devices of the drone to refine the values of the paramete

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3

Rashdi, Rabia, Zeeshan Ali, Javed Rahman Larik, Liaquat Ali Jamro, and Urooj Baig. "Controller Design for the Rotational Dynamics of a Quadcopter." Mehran University Research Journal of Engineering and Technology 38, no. 2 (2019): 269–74. http://dx.doi.org/10.22581/muet1982.1902.03.

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Researchers have shown their interests in establishing miniature flying robots to be utilized for, both, commercial and research applications. This is due to that fact that there appears to be a huge advancement in miniature actuators and sensors which depend on the MEMS (Micro Electro-Mechanical Systems) NEMS (Nano-Electro Mechanical Systems). This research underlines a detailed mathematical model and controller design for a quadcopter. The nonlinear dynamic model of the quadcopter is derived from the Newton-Euler method and Euler Lagrange method. The motion of a quadcopter can be classified

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4

Barbaraci, Gabriele. "Modeling and control of a quadrotor with variable geometry arms." Journal of Unmanned Vehicle Systems 3, no. 2 (2015): 35–57. http://dx.doi.org/10.1139/juvs-2014-0012.

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The goal of this paper is to study the dynamics of a quadcopter using a variable geometry structure and discuss the advantages of using the geometry variation. A mathematical model has been described using simulation to show quadcopter dynamics. Based on the different geometric configurations of arms it is shown how the arms’ angles affect longitudinal and lateral dynamics. The design's assumptions refer to hovering and rotation with Euler angles. Simulation results show that both controllers stabilize the quadrotor and the amplitude of the vibrations is significantly decreased, compared to th

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Yu. Babich, Mikhail, Mikhail M. Butaev, Dmitry V. Pashchenko, Alexey I. Martyshkin, and Dmitry A. Trokoz. "Simulation of quadcopter flight altitude stabilization system." Nexo Revista Científica 33, no. 02 (2020): 638–50. http://dx.doi.org/10.5377/nexo.v33i02.10799.

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Recently, unmanned aerial vehicles have been an important part of scientific research in various fields. Quadrocopter is an unmanned aerial vehicle with four rotors, two of which rotate clockwise, the other two counterclockwise. Changing the speed of screw rotation allows you to control the movement of the apparatus. The article proposed and tested a mathematical model of a quadcopter. They presented the development of a simple control algorithm that allows to stabilize the height and angular position. The research results show the efficiency of the algorithm and the possibility of its practic

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Alkamachi, Ahmed, and Ergun Erçelebi. "A proportional derivative sliding mode control for an overactuated quadcopter." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 233, no. 4 (2018): 1354–63. http://dx.doi.org/10.1177/0954410017751739.

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Traditional quadcopters suffer from their intrinsic underactuation, which prevents them from tracking arbitrary trajectories. In this study, a step-by-step mathematical modeling of a tilt rotor quadcopter, i.e. a quadcopter with all its four rotors are allowed to be tilted independently around their arms’ extension, is derived. The tilting mechanism converts the classical quadcopter to an overactuated flying vehicle that has full control over its states. The nonlinear dynamical model is derived based on the Newton–Euler formalization. A novel trajectory tracking control scheme is then proposed

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7

Stankevich, Sergey, Sergey Shklyar, and Arthur Lysenko. "Software module for estimating subpixel shift of images acquired from quadcopter." Ukrainian journal of remote sensing, no. 17 (June 27, 2018): 10–13. http://dx.doi.org/10.36023/ujrs.2018.17.128.

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Both mathematical model and software module for automatic estimating subpixel shift of aerial image acquired from quadcopter are described. The said shift henceforth will be required for super-resolution of fused aerial image.

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8

Predoi, Cristian, Liviu Coşereanu, Corneliu Axente, and Daniel Ioan Suteu. "Aspects Regarding Software Simulation of a Quadcopter Dynamics." Applied Mechanics and Materials 332 (July 2013): 62–67. http://dx.doi.org/10.4028/www.scientific.net/amm.332.62.

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The development of unmanned aircraft (UAV) capable of vertical takeoff and landing maneuver (VTOL) and hovering flight is an area of interest for the military and civilian research component. This paper focuses on a quadrotor type miniUAV, and proposes a solution to implement a mathematical model for a quadrotor used in a simulation environment Matlab (Simulink).

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9

Sabikan, Sulaiman Bin, Nawawi S. W, and NAA Aziz. "Modelling of time-to collision for unmanned aerial vehicle using particles swarm optimization." IAES International Journal of Artificial Intelligence (IJ-AI) 9, no. 3 (2020): 488. http://dx.doi.org/10.11591/ijai.v9.i3.pp488-496.

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A method for the development of Time-to-Collision (TTC) mathematical model for outdoor Unmanned Aerial Vehicle (UAV) using Particles Swarm Optimization (PSO), are presented. TTC is the time required for a UAV either to collide with any static obstacle or completely stop without applying any braking control system when the throttle is fully released. This model provides predictions of time before UAV will collide with the obstacle in the same path based on their parameter, for instance, current speed and payload. However, this paper focus on the methodology of the implementation of PSO to devel

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10

Shah, J., M. Okasha, and W. Faris. "Gain scheduled integral linear quadratic control for quadcopter." International Journal of Engineering & Technology 7, no. 4.13 (2018): 81. http://dx.doi.org/10.14419/ijet.v7i4.13.21334.

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The findings of this paper are focused on the dynamics and control of a quadcopter using a modified version of a Linear Quadratic Regulator (LQR) control approach. The classical LQR control approach is extended to include an integral term to improve the quad copter tracking performance. The mathematical model is derived using the Newton-Euler method for the nonlinear six DOF model that includes the aerodynamics and detailed gyroscopic moments as a part of the system identification process. The linearized model is obtained and it is characterized by the heading angle (yaw angle) of the quadcopt

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11

Nguyen, Ngoc Phi, and Sung Kyung Hong. "Fault-tolerant Control of Quadcopter UAVs Using Robust Adaptive Sliding Mode Approach." Energies 12, no. 1 (2018): 95. http://dx.doi.org/10.3390/en12010095.

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In this paper, a fault-tolerant control method is proposed for quadcopter unmanned aerial vehicles (UAV) to account for system uncertainties and actuator faults. A mathematical model of the quadcopter UAV is first introduced when faults occur in actuators. A normal adaptive sliding mode control (NASMC) approach is proposed as a baseline controller to handle the chattering problem and system uncertainties, which does not require information of the upper bound. To improve the performance of the NASMC scheme, radial basis function neural networks are combined with an adaptive scheme to make a qui

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Sokol, Galina Ivanovna, Valeriy Yevgenovich Nekrasov, and Vladislav Semenovich Zhmurko. "TO THE CALCULATION OF ACOUSTIC FIELD CHARACTERISTICS FOR QUADCOPTER PROPELLERS." Journal of Rocket-Space Technology 27, no. 4 (2019): 42–51. http://dx.doi.org/10.15421/451907.

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The work defines the area of use of unmanned aerial vehicles (UAVs) of the type of quadrocopter and calculated the acoustic field of propellers in order to reduce the level of noise at some distance. The main sources of noise, which are the hubs of the quadrocopter, are considered. The first samples of UAVs appeared in the middle of the last century as a separate type of promising weapons, but now quadrocopter,began to be actively used in the civilian sphere. The theory of the sound field of the aircraft's air propeller, which was proposed by L. Gutin to simulate the noise from each of the cho

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Bogatov, N. V., and A. S. Kostin. "CONTROL AND ANALYSIS OF QUADROCOPTER FLIGHT WHEN SETTING A COMPLEX TRAJECTORY OF MOTION." System analysis and logistics 4, no. 26 (2020): 3–12. http://dx.doi.org/10.31799/2007-5687-2020-4-3-12.

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The article present the solution to the problem of autonomous piloting of a quadcopter for a complex flight task to determine the positioning error. Mathematical model is proposed for the equation of the dynamics of angular motion in a connected coordinate system to solve this problem. The stages of elaboration and creation of a flight task are considered, a model based on directed graphs is presented, reflecting various options for organizing the movement of a quadrocopter. Klever quadrocopters were taken as the object of research. The study was carried out in the airfield of the laboratory o

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14

Yuan, Quan, Jingyuan Zhan, and Xiang Li. "Outdoor flocking of quadcopter drones with decentralized model predictive control." ISA Transactions 71 (November 2017): 84–92. http://dx.doi.org/10.1016/j.isatra.2017.07.005.

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15

Saud, Laith Jasim, and Alaq Falah Hasan. "Design of an Optimal Integral Backstepping Controller for a Quadcopter." Journal of Engineering 24, no. 5 (2018): 46. http://dx.doi.org/10.31026/j.eng.2018.05.04.

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In this paper, an Integral Backstepping Controller (IBC) is designed and optimized for full control, of rotational and translational dynamics, of an unmanned Quadcopter (QC). Before designing the controller, a mathematical model for the QC is developed in a form appropriate for the IBC design. Due to the underactuated property of the QC, it is possible to control the QC Cartesian positions (X, Y, and Z) and the yaw angle through ordering the desired values for them. As for the pitch and roll angles, they are generated by the position controllers. Backstepping Controller (BC) is a practical non

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16

Shauqee, Mohamad Norherman, Parvathy Rajendran, and Nurulasikin Mohd Suhadis. "Proportional Double Derivative Linear Quadratic Regulator Controller Using Improvised Grey Wolf Optimization Technique to Control Quadcopter." Applied Sciences 11, no. 6 (2021): 2699. http://dx.doi.org/10.3390/app11062699.

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A hybrid proportional double derivative and linear quadratic regulator (PD2-LQR) controller is designed for altitude (z) and attitude (roll, pitch, and yaw) control of a quadrotor vehicle. The derivation of a mathematical model of the quadrotor is formulated based on the Newton–Euler approach. An appropriate controller’s parameter must be obtained to obtain a superior control performance. Therefore, we exploit the advantages of the nature-inspired optimization algorithm called Grey Wolf Optimizer (GWO) to search for those optimal values. Hence, an improved version of GWO called IGWO is propose

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17

Li, Hang, Andrey V. Savkin, and Branka Vucetic. "Autonomous Area Exploration and Mapping in Underground Mine Environments by Unmanned Aerial Vehicles." Robotica 38, no. 3 (2019): 442–56. http://dx.doi.org/10.1017/s0263574719000754.

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SummaryIn this paper, we propose a method of using an autonomous flying robot to explore an underground tunnel environment and build a 3D map. The robot model we use is an extension of a 2D non-holonomic robot. The measurements and sensors we considered in the presented method are simple and valid in practical unmanned aerial vehicle (UAV) engineering. The proposed safe exploration algorithm belongs to a class of probabilistic area search, and with a mathematical proof, the performance of the algorithm is analysed. Based on the algorithm, we also propose a sliding control law to apply the algo

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18

Guo, Jianchuan, Chenhu Yuan, Xu Zhang, and Fan Chen. "Vision-Based Target Detection and Tracking for a Miniature Pan-Tilt Inertially Stabilized Platform." Electronics 10, no. 18 (2021): 2243. http://dx.doi.org/10.3390/electronics10182243.

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This paper presents a novel visual servoing sheme for a miniature pan-tilt intertially stabilized platform (ISP). A fully customized ISP can be mounted on a miniature quadcopter to achieve stationary or moving target detection and tracking. The airborne pan-tilt ISP can effectively isolate a disturbing rotational motion of the carrier, ensuring the stabilization of the optical axis of the camera in order to obtain a clear video image. Meanwhile, the ISP guarantees that the target is always on the optical axis of the camera, so as to achieve the target detection and tracking. The vision-based t

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19

Xiao, Jun. "Trajectory planning of quadrotor using sliding mode control with extended state observer." Measurement and Control 53, no. 7-8 (2020): 1300–1308. http://dx.doi.org/10.1177/0020294020927419.

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This paper presents the trajectory planning of an under-actuated quadcopter unmanned aerial vehicle. To control the complete structure of the rotorcraft, the main model is divided into two sub-models, namely inner model and external model. The inner model is for the attitude control model controlled by the sliding mode controller and the outer model is altitude control model governed by the extended state observer. The quadrotor unmanned aerial vehicle is a type of multivariable, multi-degree-of-freedom and nonlinear in nature. Planning the trajectory of the unmanned aerial vehicle and stabili

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20

Ermeydan, Ahmet, and Emre Kiyak. "Fault tolerant control against actuator faults based on enhanced PID controller for a quadrotor." Aircraft Engineering and Aerospace Technology 89, no. 3 (2017): 468–76. http://dx.doi.org/10.1108/aeat-04-2015-0096.

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Purpose The purpose of this paper is to present fault tolerant control of a quadrotor based on the enhanced proportional integral derivative (PID) structure in the presence of one or more actuator faults. Design/methodology/approach Mathematical model of the quadrotor is derived by parameter identification of the system for the simulation of the UAV dynamics and flight control in MATLAB/Simulink. An improved PID structure is used to provide the stability of the nonlinear quadcopter system both for attitude and path control of the system. The results of the healty system and the faulty system a

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21

Malek, Azizi, M. F Sedan, and A. S M Harithuddin. "Development of attitude control system for hybrid airship vehicle." International Journal of Engineering & Technology 7, no. 4.13 (2018): 99. http://dx.doi.org/10.14419/ijet.v7i4.13.21339.

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This paper documents and presents the development of attitude control system of Hybrid Airship Unmanned Aerial Vehicle (HAU) that should be able to change its attitude condition based on the response processed from the provided input. This is accomplished by data acquisition method that retrieves data from a flight controller and processes it into the control system without looking in deep on the mathematical model of the airship. Besides that, PID controller is used in order to create a good stable response for the hybrid airship. A working hybrid airship prototype was successfully developed

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22

Diveev, A. I., E. Yu Shmalko, and O. Hussein. "Quadrocopter Control by Network Operator Method Based on Multi-Point Stabilization." Mekhatronika, Avtomatizatsiya, Upravlenie 21, no. 7 (2020): 428–38. http://dx.doi.org/10.17587/mau.21.428-438.

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The paper presents a solution to the problem of optimal control of a quadrocopter under phase constraints by the numerical method of a network operator based on multi-point stabilization. According to this approach, the task of control system synthesis is initially solved. As a result, the quadrocopter is stabilized with respect to a certain point in the state space. At the second stage, a sequence of stabilization points is searched in the state space such that switching the stabilization points at fixed times ensures the movement of the quadrocopter from the initial state to the terminal sta

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Fridovich-Keil, David, Andrea Bajcsy, Jaime F. Fisac, et al. "Confidence-aware motion prediction for real-time collision avoidance1." International Journal of Robotics Research 39, no. 2-3 (2019): 250–65. http://dx.doi.org/10.1177/0278364919859436.

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One of the most difficult challenges in robot motion planning is to account for the behavior of other moving agents, such as humans. Commonly, practitioners employ predictive models to reason about where other agents are going to move. Though there has been much recent work in building predictive models, no model is ever perfect: an agent can always move unexpectedly, in a way that is not predicted or not assigned sufficient probability. In such cases, the robot may plan trajectories that appear safe but, in fact, lead to collision. Rather than trust a model’s predictions blindly, we propose t

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Zouaoui, Satla, Elajrami Mohamed, and Bendine Kouider. "Easy Tracking of UAV Using PID Controller." Periodica Polytechnica Transportation Engineering 47, no. 3 (2018): 171–77. http://dx.doi.org/10.3311/pptr.10838.

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The main objective of the present paper is to design a mathematical model to estimate the behavior of flying robots with four motors (quadcopters) controlled by three algorithms; P depends on the present errors; I on the accumulation of past errors, and D a prediction of future errors (PID controller design) with simple strategy. In this regard, a governing equation of motion based on Newton Euler’s formularies for rigid body dynamics is presented. In order to design the control algorithm some assumptions are made such as the ignorance of the blade flapping, surrounding fluid velocities. This

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Heidari, Hamidreza, and Martin Saska. "Trajectory Planning of Quadrotor Systems for Various Objective Functions." Robotica 39, no. 1 (2020): 137–52. http://dx.doi.org/10.1017/s0263574720000247.

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SUMMARYQuadrotors are unmanned aerial vehicles with many potential applications ranging from mapping to supporting rescue operations. A key feature required for the use of these vehicles under complex conditions is a technique to analytically solve the problem of trajectory planning. Hence, this paper presents a heuristic approach for optimal path planning that the optimization strategy is based on the indirect solution of the open-loop optimal control problem. Firstly, an adequate dynamic system modeling is considered with respect to a configuration of a commercial quadrotor helicopter. The m

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26

Blahitko, Bohdan, Yuriy Mochulsky, and Ihor Zayachuk. "Choice of the optimal mode of control of the process of emergency landing of an unmanned quadcopter." Physico-mathematical modelling and informational technologies, no. 32 (July 6, 2021): 46–51. http://dx.doi.org/10.15407/fmmit2021.32.085.

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Peculiarities of the process of emergency landing of an unmanned quadcopter have been studied by mathematical modeling. The method of landing an unmanned quadcopter in case of failure of one of the four pairs of electric motor-propeller is proposed. The basis of this technique is the application of the parachuting effect. Parachuting is achieved by forcibly turning off the power of the motor, which is located at the opposite end of the same traverse as the faulty motor. As a result, the vertical speed of the unmanned quadcopter at the time of landing is significantly reduced and approaches a r

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27

Pi, ChenHuan, JinKwan Lin, and Stone Cheng. "High Accuracy Positioning using Jet Thrusters for Quadcopter." MATEC Web of Conferences 151 (2018): 04004. http://dx.doi.org/10.1051/matecconf/201815104004.

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A quadcopter is equipped with four additional jet thrusters on its horizontal plane and vertical to each other in order to improve the maneuverability and positioning accuracy of quadcopter. A dynamic model of the quadcopter with jet thrusters is derived and two controllers are implemented in simulation, one is a dual loop state feedback controller for pose control and another is an auxiliary jet thruster controller for accurate positioning. Step response simulations showed that the jet thruster can control the quadcopter with less overshoot compared to the conventional one. Over 10s loiter si

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28

Zhang, Xiaomin, Zhiyao Zhao, Zhaoyang Wang, and Xiaoyi Wang. "Fault Detection and Identification Method for Quadcopter Based on Airframe Vibration Signals." Sensors 21, no. 2 (2021): 581. http://dx.doi.org/10.3390/s21020581.

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Quadcopters are widely used in a variety of military and civilian mission scenarios. Real-time online detection of the abnormal state of the quadcopter is vital to the safety of aircraft. Existing data-driven fault detection methods generally usually require numerous sensors to collect data. However, quadcopter airframe space is limited. A large number of sensors cannot be loaded, meaning that it is difficult to use additional sensors to capture fault signals for quadcopters. In this paper, without additional sensors, a Fault Detection and Identification (FDI) method for quadcopter blades base

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Kurak, Sevkuthan, and Migdat Hodzic. "Control and estimation of a quadcopter dynamical model." Periodicals of Engineering and Natural Sciences (PEN) 6, no. 1 (2018): 63. http://dx.doi.org/10.21533/pen.v6i1.164.

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Khamseh, Hossein Bonyan, and Farrokh Janabi-Sharifi. "UKF–Based LQR Control of a Manipulating Unmanned Aerial Vehicle." Unmanned Systems 05, no. 03 (2017): 131–39. http://dx.doi.org/10.1142/s2301385017400015.

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In this paper, modeling, control and state estimation of a manipulating unmanned aerial vehicle (UAV) consisting of a quadcopter equipped with a two degree-of-freedom robotic manipulator is discussed. In the first step, Euler–Lagrange approach is adopted to model the coupled dynamics of the quadcopter and its robotic manipulator. Having linearized the obtained model, a linear quadratic regulator is designed to achieve simultaneous control of the quadcopter and the manipulator. Finally, a UKF-based algorithm is employed to obtain state estimation of the system. For a case study, simulation resu

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El-Badawy, Ayman A., and Mohamed A. Bakr. "Quadcopter Aggressive Maneuvers along Singular Configurations: An Energy-Quaternion Based Approach." Journal of Control Science and Engineering 2016 (2016): 1–10. http://dx.doi.org/10.1155/2016/7324540.

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Automatic aggressive maneuvers with quadcopters are regarded as a highly challenging control problem. The aim is to tackle the singularities that exist in a vertical looping maneuver. Modeling singularities are resolved by writing the equations-of-motion of the quadcopter in quaternion form. Physical singularities due to underactuation are resolved by using an energy-based control. Energy-based control is utilized to overcome the uncontrollability of the quadcopter at physical singular configurations, for instance, when commanding the quadcopter to gain altitude while pitched at90∘. Three loop

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Battiston, Adrian, Inna Sharf, and Meyer Nahon. "Attitude estimation for collision recovery of a quadcopter unmanned aerial vehicle." International Journal of Robotics Research 38, no. 10-11 (2019): 1286–306. http://dx.doi.org/10.1177/0278364919867397.

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An extensive evaluation of attitude estimation algorithms in simulation and experiments is performed to determine their suitability for a collision recovery pipeline of a quadcopter unmanned aerial vehicle. A multiplicative extended Kalman filter (MEKF), unscented Kalman filter (UKF), complementary filter, [Formula: see text] filter, and novel adaptive varieties of the selected filters are compared. The experimental quadcopter uses a PixHawk flight controller, and the algorithms are implemented using data from only the PixHawk inertial measurement unit (IMU). Performance of the aforementioned

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Akbar, Reesa, Bambang Sumantri, Hitoshi Katayama, Shigenori Sano, and Naoki Uchiyama. "Reduced-Order Observer Based Sliding Mode Control for a Quad-Rotor Helicopter." Journal of Robotics and Mechatronics 28, no. 3 (2016): 304–13. http://dx.doi.org/10.20965/jrm.2016.p0304.

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[abstFig src='/00280003/05.jpg' width=""230"" text='Quadcopter for repeated control verification' ] The reduced-order observer design we present estimates the velocity states of a quadrotor helicopter, or quadcopter, based on sampled measurements of position and attitude states. This observer is based on the forward-differentiation Euler model. The observer is robust enough against observation noise that the gain of a closed-loop controller is high enough to improve control performance. A sliding-mode controller stabilizes and implements quadcopter tracking control effectively, as is verified

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Hegde, Navya Thirumaleshwar, V. I. George, C. Gurudas Nayak, and Kamlesh Kumar. "Design, dynamic modelling and control of tilt-rotor UAVs: a review." International Journal of Intelligent Unmanned Systems 8, no. 3 (2019): 143–61. http://dx.doi.org/10.1108/ijius-01-2019-0001.

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Purpose The purpose of this paper is to give reviews on the platform modeling and design of a controller for autonomous vertical take-off and landing (VTOL) tilt rotor hybrid unmanned aerial vehicles (UAVs). Nowadays, UAVs have experienced remarkable progress and can be classified into two main types, i.e. fixed-wing UAVs and VTOL UAVs. The mathematical model of tilt rotor UAV is time variant, multivariable and non-linear in nature. Solving and understanding these plant models is very complex. Developing a control algorithm to improve the performance and stability of a UAV is a challenging tas

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García-Olvera, David, Armando Hernández-Godínez, Benjamín Nicolás-Trinidad, and Carlos Cuvas-Castillo. "Line follower with a quadcopter." Pädi Boletín Científico de Ciencias Básicas e Ingenierías del ICBI 7, no. 14 (2020): 30–36. http://dx.doi.org/10.29057/icbi.v7i14.4727.

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The project presented in this document consists in the implementation of a Parrot Bebop 2 quadcopter as a line follower, the communication between the device and the computer, that carries out the control algorithm, is done via Wi-Fi using the development platform of software for robots ROS (Robot Operating System), which implements a publisher/subscriber model of communication. Through the use of Atom text editor, a Python 3.7 script was developed; in this one it’s integrated: a piloting control algorithm, a method of communication (publisher/subscriber) between the computer and the quadcopte

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Alkamachi, Ahmed, and Ergun Ercelebi. "MODELLING AND CONTROL OF H-SHAPED RACING QUADCOPTER WITH TILTING PROPELLERS." Facta Universitatis, Series: Mechanical Engineering 15, no. 2 (2017): 201. http://dx.doi.org/10.22190/fume170203005a.

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Traditional quadcopter suffers terribly from its underactuation which implies the coupling between the rotational and the translational motion. In this paper, we present a quadcopter with dynamic rotor tilting capability in which the four propellers are allowed to tilt together around their arm axis. The proposed model provides leveled forward/backward horizontal motion and therefore, ensures a correct view of the onboard camera, and increases the vehicle speed by reducing the air drag. The rotor tilt mechanism also provides an instant high speed in the forward or reverse direction and offers

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Bemporad, A., C. A. Pascucci, and C. Rocchi. "Hierarchical and Hybrid Model Predictive Control of Quadcopter Air Vehicles." IFAC Proceedings Volumes 42, no. 17 (2009): 14–19. http://dx.doi.org/10.3182/20090916-3-es-3003.00004.

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Caceres, Camilo, Dario Amaya, and João Maurício Rosário. "Simulation, Model and Control of a Quadcopter AR Drone 2.0." International Review of Mechanical Engineering (IREME) 10, no. 3 (2016): 197. http://dx.doi.org/10.15866/ireme.v10i3.8648.

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Wang, Ye, Andres Ramirez-Jaime, Feng Xu, and Vicenç Puig. "Nonlinear Model Predictive Control with Constraint Satisfactions for a Quadcopter." Journal of Physics: Conference Series 783 (January 2017): 012025. http://dx.doi.org/10.1088/1742-6596/783/1/012025.

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Beniak, Ryszard, and Oleksandr Gudzenko. "Online identification of wind model for improving quadcopter trajectory monitoring." E3S Web of Conferences 19 (2017): 01028. http://dx.doi.org/10.1051/e3sconf/20171901028.

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Syam, Rafiuddin, and Mustari. "Simulation and Experimental Works of Quadcopter Model for Simple Maneuver." International Journal on Smart Material and Mechatronics 1, no. 1 (2014): 29–33. http://dx.doi.org/10.20342/ijsmm.2.1.33.

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Xuan-Mung, Nguyen, and Sung-Kyung Hong. "Improved Altitude Control Algorithm for Quadcopter Unmanned Aerial Vehicles." Applied Sciences 9, no. 10 (2019): 2122. http://dx.doi.org/10.3390/app9102122.

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Quadcopter unmanned aerial vehicles continue to play important roles in several applications and the improvement of their control performance has been explored in a great number of studies. In this paper, we present an altitude control algorithm for quadcopters that consists of a combination of nonlinear and linear controllers. The smooth transition between the nonlinear and linear modes are guaranteed through controller gains that are obtained based on mathematical analysis. The proposed controller takes advantage and addresses some known shortcomings of the conventional proportional–integral

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43

Ali, Qasim, and Sergio Montenegro. "Decentralized Control for Scalable Quadcopter Formations." International Journal of Aerospace Engineering 2016 (2016): 1–10. http://dx.doi.org/10.1155/2016/9108983.

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An innovative framework has been developed for teamwork of two quadcopter formations, each having its specified formation geometry, assigned task, and matching control scheme. Position control for quadcopters in one of the formations has been implemented through a Linear Quadratic Regulator Proportional Integral (LQR PI) control scheme based on explicit model following scheme. Quadcopters in the other formation are controlled through LQR PI servomechanism control scheme. These two control schemes are compared in terms of their performance and control effort. Both formations are commanded by re

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Rizwan, Shehzad, and Awais. "Quadcopter-Based Rapid Response First-Aid Unit with Live Video Monitoring." Drones 3, no. 2 (2019): 37. http://dx.doi.org/10.3390/drones3020037.

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Air transport is the fastest way to reach areas with no direct land routes for ambulances. This paper presents the development of a quadcopter-based rapid response unit in an efficient aerial aid system to eliminate the delay time for first aid supplies. The system comprises a health monitoring and calling system for a field person working in open areas and a base station with the quadcopter. In an uncertain situation, the quadcopter is deployed from the base station towards the field person for immediate help through the specified path using constant Global System for Mobile (GSM)- and Global

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Huynh, Nghia, and Carlos Montalvo. "Simulation and experimental results of an unmanned towed system." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 234, no. 15 (2020): 2167–85. http://dx.doi.org/10.1177/0954410020934059.

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This report investigates the flight dynamics of a small-scale (2 ft) towed system using a quadcopter and actively controlled payload. A towed system includes a main driver to propel the system forward connected to a payload via a tether. The towed system here is unique, and in that the driver is a scratch built quadcopter while the payload is also a scratch built actively controlled aircraft. The payload is designed to carry a small instrument that must be sufficiently far away from all interferences created by a quadcopter. A fully non-linear full state model is created and utilized to reveal

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Cedro, Leszek, and Krzysztof Wieczorkowski. "Optimizing PID controller gains to model the performance of a quadcopter." Transportation Research Procedia 40 (2019): 156–69. http://dx.doi.org/10.1016/j.trpro.2019.07.026.

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Islam, M., M. Okasha, and M. M. Idres. "Dynamics and control of quadcopter using linear model predictive control approach." IOP Conference Series: Materials Science and Engineering 270 (December 2017): 012007. http://dx.doi.org/10.1088/1757-899x/270/1/012007.

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Sheta, Alaa, Malik Braik, Dheeraj Reddy Maddi, Ahmed Mahdy, Sultan Aljahdali, and Hamza Turabieh. "Optimization of PID Controller to Stabilize Quadcopter Movements Using Meta-Heuristic Search Algorithms." Applied Sciences 11, no. 14 (2021): 6492. http://dx.doi.org/10.3390/app11146492.

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Quadrotor UAVs are one of the most preferred types of small unmanned aerial vehicles, due to their modest mechanical structure and propulsion precept. However, the complex non-linear dynamic behavior of the Proportional Integral Derivative (PID) controller in these vehicles requires advanced stabilizing control of their movement. Additionally, locating the appropriate gain for a model-based controller is relatively complex and demands a significant amount of time, as it relies on external perturbations and the dynamic modeling of plants. Therefore, developing a method for the tuning of quadcop

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Cai, Guowei, Tarek Taha, Jorge Dias, and Lakmal Seneviratne. "A framework of frequency-domain flight dynamics modeling for multi-rotor aerial vehicles." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 231, no. 1 (2016): 30–46. http://dx.doi.org/10.1177/0954410016648348.

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In this paper, a frequency-domain modeling methodology that can be applied to various multi-rotor aerial vehicles is introduced. The primary contribution of this work is a systematic integration of the first-principles modeling and system identification approaches to generate flight dynamics models with good accuracy. The first-principles modeling and model linearization are conducted to obtain an appropriate baseline model for the subsequent system identification. Next, a four-step parameter identification process, which consists of: (1) baseline model determination; (2) data collection and p

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Nguyen, Anh Tung, Nguyen Xuan-Mung, and Sung-Kyung Hong. "Quadcopter Adaptive Trajectory Tracking Control: A New Approach via Backstepping Technique." Applied Sciences 9, no. 18 (2019): 3873. http://dx.doi.org/10.3390/app9183873.

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Nowadays, quadcopter unmanned aerial vehicles play important roles in several real-world applications and the improvement of their control performance has become an increasingly attractive topic of a great number of studies. In this paper, we present a new approach for the design and stability analysis of a quadcopter adaptive trajectory tracking control. Based on the quadcopter nonlinear dynamics model which is obtained by using the Euler–Lagrange approach, the tracking controller is devised via the backstepping control technique. Besides, an adaptive law is proposed to deal with the system p

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