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Journal articles on the topic 'Quadcopter'
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1
Nguyen, Minh Tam, My Ha Le, Anh Khoa Vo, Vi Do Tran, Van Phong Vu, Van Thuyen Ngo, and Van Dong Hai Nguyen. "Stabilzation Position of Quadcopter Using Vision-Based Corner Detector from Top-Down Footage of Camera." Journal of Technical Education Science, no. 71A (August 30, 2022): 18–27. http://dx.doi.org/10.54644/jte.71a.2022.1132.
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Quadcopter is a kind of robot which is popularly used in both academic and industrial environment. In this paper, we present and implement a method to stabilize a quadcopter prototype’s position using feature extraction and tracking from camera footage. The quadcopter's position and linear velocity are determined from images which are captured by a downward-facing camera - Logitech C270. First, Shi-Tomasi technique is used to detect corners in the images and from this method, displacement of the quadcopter is yielded. Linear velocity is then calculated by using the quadcopter’s displacement. Once the linear velocity of the quadcopter has been estimated, the cascade PID controller is proposed to stabilize the hovering quadcopter’s position. Simulation results prove the ability of controlller on Matlab/Simulink. Then, a real quadcopter prototype is built to evaluate the proposed method and the experimental results recording in approximately 70 seconds show that the quadcopter remained its position with minimal error.
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Angraeni, Pipit, Muhammad Nursyam Rizal, Hilda Khoirunnisa, and Theo Kristian. "Experimental of Quadcopter Trajectory Tracking Control Based ROS." MOTIVECTION : Journal of Mechanical, Electrical and Industrial Engineering 5, no. 2 (April 7, 2023): 295–302. http://dx.doi.org/10.46574/motivection.v5i2.232.
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Quadcopters have become popular in various fields, such as environmental surveying, mapping, monitoring, and rescue operations. However, controlling the trajectory of a quadcopter remains a major challenge. In this article, we propose an adaptive PID control approach based on ROS (Robot Operating System) to control the motion of a quadcopter. We tested the proposed control model on a simulation platform and on a physical quadcopter system. Simulation results demonstrate better control capabilities than conventional PID control approaches. Additionally, the proposed control system successfully controlled the quadcopter accurately on multiple different trajectories in the physical system. We demonstrate the effectiveness of the adaptive PID control approach in tracking the quadcopter's trajectory with greater accuracy. Experiment results show that the proposed control system is highly suitable for more advanced quadcopter applications and allows for more accurate navigation.
Quadcopter telah menjadi populer dalam aplikasi berbagai bidang, seperti survei lingkungan, pemetaan, pemantauan dan penyelamatan. Namun, pengendalian trajektori quadcopter masih menjadi tantangan besar. Dalam artikel ini, kami mengusulkan pendekatan kontrol pid adaptif berbasis ROS (Robot Operating System) untuk mengendalikan gerakan quadcopter. Kami menguji model kontrol yang diusulkan pada platform simulasi dan pada sistem fisik quadcopter. Hasil simulasi menunjukkan kemampuan kontrol yang lebih baik dari pendekatan kontrol pid konvensional. Selain itu, sistem kontrol yang diusulkan berhasil mengendalikan quadcopter pada beberapa lintasan berbeda secara akurat pada sistem fisik. Kami menunjukkan efektivitas pendekatan kontrol pid adaptif dalam melacak lintasan quadcopter dengan akurasi yang lebih baik. Hasil eksperimen menunjukkan bahwa sistem kontrol yang diusulkan sangat mampu digunakan pada aplikasi quadcopter yang lebih canggih dan memungkinkan navigasi yang lebih akurat.
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Karahan, Mehmet. "Reinforcement Learning and PD Control Based Trajectory Tracking for a Quadcopter UAV." Journal of Computer Science and Technology Studies 6, no. 4 (October 16, 2024): 131–41. http://dx.doi.org/10.32996/jcsts.2024.6.4.15.
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Nowadays, quadcopter unmanned aerial vehicles (UAV) are used in a wide variety of areas, such as reconnaissance and surveillance, firefighting, search and rescue, agricultural spraying, cargo transportation, photography, and mapping. The use of quadcopters in a very wide area makes their trajectory tracking control important. In order for quadcopters to perform their duties successfully, they must be able to follow the given trajectory with the least error. In this study, the quadcopter’s trajectory tracking under random noise is provided by an algorithm based on reinforcement learning and a proportional derivative (PD) controller. Modeling, simulations, and reinforcement learning algorithms were carried out using the MATLAB program. Simulations were made under noise for the x, y, z trajectories and roll, pitch, and yaw angles of the quadcopter. A detailed time response analysis was performed by obtaining rise time, overshoot, and settling time data. It has been observed that the references given were successfully followed thanks to the algorithm based on reinforcement learning.
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Baharuddin, A'dilah, and Mohd Ariffanan Mohd Basri. "Trajectory Tracking of a Quadcopter UAV using PID Controller." ELEKTRIKA- Journal of Electrical Engineering 22, no. 2 (August 28, 2023): 14–21. http://dx.doi.org/10.11113/elektrika.v22n2.440.
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UAVs or Drones are aircraft with no onboard pilot to control the flight. They are introduced in a few categories such as single-rotor, multi-rotors, fixed-wing, and hybrid VTOL. As for multirotor drones, quadcopters are the most well-known either commercially or in the research field. Due to its advantages, a quadcopter has been chosen to perform various tasks across various fields such as entertainment, military, meteorological reconnaissance, civil and emergency responses. As the demand for quadcopters has diverged, the required features of quadcopters have also diverged. One of the current features required by quadcopters is the ability to track trajectories. However, due to its nature of non-linearity, under-actuated and unstable, controlling quadcopter for an accurate and stable performance is quite a challenge. Despite the various proposed methods throughout the past decades, PID controller is still used as either the main controller or the base controller in most cases of industrial control, including quadcopter, mainly due to its simplicity and robustness. However, to design a proper PID controller for quadcopter system is a challenge as it defies the control inputs of four with its six degree-of-freedom form, in which six inputs are required to be controlled to ensure a stable and accurate flight. This paper derived a mathematically model of a quadcopter with Newton-Euler’s equation. Some assumptions on the body and structure of the quadcopter are taken into account to make the modelling possible. Then, a manually tuned PID controller is designed to achieve the objective of controlling the operation and stability of the quadcopter during its flight. The designed controller is tested with five different trajectories which are circular, square, lemniscate, zigzag, and spiral. The results show the proposed controller successfully tracks the desired trajectories, which prove PID controller can be used to control a quadcopter.
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Tran, V. T., A. M. Korikov, and D. K. Tran. "Synthesis of an algorithm for automatic control of the quadcopter position using the control force estimation method." Journal of Physics: Conference Series 2291, no. 1 (July 1, 2022): 012017. http://dx.doi.org/10.1088/1742-6596/2291/1/012017.
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Abstract A mathematical model of the quadcopter motion control system has been developed. A new algorithm for controlling the movement of the quadcopter is proposed, which, in combination with sliding modes for controlling the position and direction of movement, ensures stable movement of the quadcopter in space. The simulation of the quadcopter motion control system on the MATLAB SIMULINK software was performed. The proposed algorithm for controlling the movement of the quadcopter ensures its steady movement as a single quadcopter along a given flight path in space in the presence of interference, and the movement of a group of quadcopters
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Mariani, Manuel, and Simone Fiori. "Design and Simulation of a Neuroevolutionary Controller for a Quadcopter Drone." Aerospace 10, no. 5 (April 29, 2023): 418. http://dx.doi.org/10.3390/aerospace10050418.
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The problem addressed in the present paper is the design of a controller based on an evolutionary neural network for autonomous flight in quadrotor systems. The controller’s objective is to govern the quadcopter in such a way that it reaches a specific position, bearing on attitude limitations during flight and upon reaching a target. Given the complex nature of quadcopters, an appropriate neural network architecture and a training algorithm were designed to guide a quadcopter toward a target. The designed controller was implemented as a single multi-layer perceptron. On the basis of the quadcopter’s current state, the developed neurocontroller produces the correct rotor speed values, optimized in terms of both attitude-limitation compliance and speed. The neural network training was completed using a custom evolutionary algorithm whose design put particular emphasis on the cost function’s definition. The developed neurocontroller was tested in simulation to drive a quadcopter to autonomously follow a complex path. The obtained simulated results show that the neurocontroller manages to effortlessly follow several types of paths with adequate precision while maintaining low travel times.
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Idris Seidu, Benjamin Olowu, and Samuel Olowu. "Advancements in Quadcopter Development through Additive Manufacturing: A Comprehensive Review." International Journal of Scientific Research in Science, Engineering and Technology 11, no. 4 (July 22, 2024): 92–124. http://dx.doi.org/10.32628/ijsrset24114109.
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The paper provides a comprehensive review of the advancements in quadcopters development made possible through additive manufacturing (AM). The review begins with an introduction to quadcopter technology and the basics of AM, followed by an exploration of the various AM technologies and materials used for creating quadcopter components. It highlights the innovative designs and complex geometries enabled by AM, as well as the improvements in customization and integration of multiple functions into single components. Practical case studies demonstrate the application of AM in producing high-performance quadcopters for various sectors, including military, commercial, research, and recreational use. The paper also addresses the technical challenges, economic considerations, and regulatory issues associated with AM in quadcopter development. Finally, it discusses future trends and research directions, emphasizing the potential of emerging materials and technologies to further enhance quadcopter performance. This review underscores the significant impact of AM on the evolution of quadcopters and the importance of ongoing research in this field.
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Safarov, Tural. "Matlab sımulatıon of quadcopter dynamıcs and PID attıtude controller." Technium: Romanian Journal of Applied Sciences and Technology 18 (December 8, 2023): 82–91. http://dx.doi.org/10.47577/technium.v18i.10308.
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Due to the ever-growing popularity of quadcopters, they are used in various fields such as surveillance, military, surveillance and courier services and are of great importance. Ideal handling of quadcopters is essential for safe maneuvering and high precision flight performance. This research provides simulation of quadcopter control in MATLAB software, development and review of various control principles.
Dynamic development in unmanned aerial vehicles (UAVs) has led to the rapid spread of quadcopters in many fields, from airspace control to courier services. This research study investigates the Proportional-Integral-Derivative (PID) attitude controller by simulating the quadcopter dynamic object in MATLAB software. The heart of this research is to create and develop a PID attitude controller, which is a critical component for accurate control of quadcopter.
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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 (January 15, 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 based on airframe vibration signals is proposed using the airborne acceleration sensor. This method integrates multi-axis data information and effectively detects and identifies quadcopter blade faults through Long and Short-Term Memory (LSTM) network models. Through flight experiments, the quadcopter triaxial accelerometer data are collected for airframe vibration signals at first. Then, the wavelet packet decomposition method is employed to extract data features, and the standard deviations of the wavelet packet coefficients are employed to form the feature vector. Finally, the LSTM-based FDI model is constructed for quadcopter blade FDI. The results show that the method can effectively detect and identify quadcopter blade faults with a better FDI performance and a higher model accuracy compared with the Back Propagation (BP) neural network-based FDI model.
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Mohsin, Ali, and Jaber Abdulhady. "Comparing dynamic model and flight control of plus and cross quadcopter configurations." FME Transactions 50, no. 4 (2022): 683–92. http://dx.doi.org/10.5937/fme2204683m.
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This research investigates and demonstrates the fundamental differences in performance and operation of both the cross and quadcopter configurations. The system's nonlinear dynamic model was first derived and implemented in Simulink for each quadcopter. The identical initial control values were applied for both quadcopters. The plus-configuration creates a yaw moment when a pitch or roll control input is supplied using multi-rotor controls; however, the cross-configuration decouples pitch and roll control from yaw. However, the plus-quad showed considerable instability while rotating with a pitch and rolling due to the self-generated residual rotation of the four rotors, which is small in the cross quadcopter, making it more maneuverability stable. The obtained results showed that both quadcopters consume the same energy amount.
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Fahmizal, Danis Afidah, Swadexi Istiqphara, and Nur Syuhadah Abu. "Interface Design of DJI Tello Quadcopter Flight Control." Journal of Fuzzy Systems and Control 1, no. 2 (August 21, 2023): 49–54. http://dx.doi.org/10.59247/jfsc.v1i2.35.
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Quadcopter is an unmanned, remote-controlled aircraft. This quadcopter has various types, in this study, the DJI Tello is used. The aim is to create a DJI Tello quadcopter flying control interface with Processing IDE, where the DJI Tello quadcopter will be controlled via a keyboard, joystick, and Graphical User Interface (GUI). Programmed through the Processing IDE, so the quadcopter can be controlled via the keyboard. The functions of some keys on the keyboard and joystick will be used to control the quadcopter's flying. To control these flying, several libraries available in the Processing IDE are required, while the GUI will function to read how the conditions of the quadcopter when the quadcopter and processing IDE are connected. The testing results show that the GUI can display the same position as the actual DJI Tello based on the data communication.
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Yaddala Somasekhar. "Indigenous Multi-Role X-Quadcopter: Design, Development, Advancements and its Applications." Acceleron Aerospace Journal 3, no. 3 (August 30, 2024): 479–86. http://dx.doi.org/10.61359/11.2106-2445.
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The Indigenous Multi-Role X-Quadcopter, represents a significant leap forward in drone technology, particularly in military applications. This article explores the design, components, assembly, testing, and troubleshooting of this advanced quadcopter. The primary goal of the Indigenous Multi-Role X-Quadcopter is to integrate artificial intelligence (AI) for enhanced military capabilities. The quadcopter's design and components are tailored to meet rigorous standards required for military operations.
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Hou, Jie, Baolong Guo, Juanjuan Zhu, Cheng Li, and Wangpeng He. "Quadcopter localization and health monitoring method based on multiple virtual silhouette sensor integration." International Journal of Distributed Sensor Networks 13, no. 7 (July 2017): 155014771771982. http://dx.doi.org/10.1177/1550147717719826.
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With the widespread deployment of quadcopters, the flight safety issue attracts increasingly public and academic attentions. This article presents a quadcopter flight regime extraction algorithm for quadcopter localization and health monitoring using imageries captured by general purpose monocular cameras. First, contour information is extracted from quadcopter shadows on the ground. In order to better illustrate the three-dimensional silhouette information contained in shadow contour on the ground, a virtual sensor named Shadow Projection Tunnel is designed. Then, multiple Shadow Projection Tunnels are generated according to the extracted silhouette information and corresponding light source positions. Finally, three-dimensional quadcopter positions and flight regimes are extracted based on the aggregation between multiple Shadow Projection Tunnels. The proposed method is validated to be accurate and efficient in monitoring quadcopter position and flight regimes based on the comparative analyses. In comparison with traditional quadcopter health monitoring methods, the proposed method has advantages on deployment convenience, system robustness, precision expandability, and scenario adaptability, making it an ideal solution for quadcopter monitoring in outdoor scenarios.
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V, Melwin Tony. "Optimization of Motion Planning for Quadrotor-Equipped Robotic Manipulators." International Journal for Research in Applied Science and Engineering Technology 12, no. 11 (November 30, 2024): 96–103. http://dx.doi.org/10.22214/ijraset.2024.64601.
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The focus of the work is on optimizing motion planning for quadcopter-equipped robotic manipulators by integrating quadcopter design, modeling, and path planning for a robotic arm mounted on a quadcopter through MATLAB. Recently, quadcopters have also been used in many application fields with increased viability. This paper will attempt at bringing a complete framework that enhances the operational capabilities of quadcopters through optimized path planning algorithms. The approach will rely on obstacle avoidance techniques for safe operation with satisfactory efficiency in unstructured environments. Advanced algorithms such as Rapidly-exploring Random Trees and dynamic window approaches provide solutions to this challenge of redundancy in the path followed and adaptability in its surroundings. Simulations prove that the proposed optimization methods strongly improve the accuracy and efficiency of the path planned by the robotic arm as it adheres to the dynamic constraints imposed. This work can apply practical insight into many real-world fields such as logistics, surveillance, and search-and-rescue applications aside from contributing to the theoretical understanding of quadcopter dynamics.
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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 looping strategies (circular, clothoidal, and newly developed constant thrust) are implemented on a nonlinear model of the quadcopter. The three looping strategies are discussed along with their advantages and limitations.
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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 respective ground stations through virtual leaders. Quadcopters in formations are able to track desired trajectories as well as hovering at desired points for selected time duration. In case of communication loss between ground station and any of the quadcopters, the neighboring quadcopter provides the command data, received from the ground station, to the affected unit. Proposed control schemes have been validated through extensive simulations using MATLAB®/Simulink® that provided favorable results.
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Djizi, Hamza, Zoubir Zahzouh, and Abdelaziz Lakehal. "Quadcopter Prototype Stability Analysis Using Matlab Simscape Library." Scientific Bulletin of Electrical Engineering Faculty 22, no. 2 (December 1, 2022): 38–43. http://dx.doi.org/10.2478/sbeef-2022-0018.
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Abstract Nowadays, the use of quadcopters in daily life has become important due to its capabilities and ability to carry out many tasks in many fields like civil, military, industrial, and agricultural fields. The modelling of the quadcopter and deeply understanding its movements is very important to ensure that the simulations of its behaviour are as close as possible to reality and also helps us to design a flight controller. In this work, we used a modern technique on MATLAB (Simscape) to simulate a quadcopter in real-time. At first, we build a quadcopter using Simscape multibody then we simulated the PID regulator, the command algorithms, and the motor model with the applied forces on the body to achieve the global model that we can use to study the movement of the quadcopter on the three-axis which ensure a stable functioning. The results obtained show the stability of the four movements of the quadcopter (roll, pitch, yaw, and altitude).
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Huu, Toan Le, Hoang Le Anh, and Duc Thuan Tran. "Applying Sliding Mode Control to a Quadrotor." Engineering, Technology & Applied Science Research 14, no. 5 (October 9, 2024): 16389–94. http://dx.doi.org/10.48084/etasr.8026.
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The current paper discusses the application of Sliding Mode Control (SMC) to a quadcopter. The controller is designed based on the system's nonlinear model. An adaptive sliding mode controller is developed specifically for the quadcopter's attitude subsystem, aiming to mitigate the undesirable vibration phenomena typically associated with conventional sliding mode controllers while ensuring robust trajectory tracking for the quadcopter's attitude. The stability of the proposed controller was verified using the Lyapunov stability theorem. The quadcopter Unmanned Aerial Vehicle (UAV) model and the performance of the proposed controller were simulated and validated in MATLAB/SIMULINK environment. The results demonstrate that the proposed controller effectively positions the quadcopter with minimal error, maintaining the UAVs flight along the prescribed trajectory. Additionally, it performs well in trajectory tracking under collision noise and vibration reduction conditions.
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Alwasiti, Haider, and Mohd Zuki Yusoff. "Quadcopter Control using Labview for a Brain Computer Interface System." Advanced Journal of Technical and Vocational Education 5, no. 3 (September 30, 2021): 7–13. http://dx.doi.org/10.26666/rmp.ajtve.2021.3.2.
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A method to control a flying quadcopter robot using LabView G-language is being demonstrated in this paper. The controller is designed to be interfaced with the BCI algorithm that is providing a system for controlling a quadcopter using the thinking process of the user. The whole system is aiming to develop a novel method to increase the accuracy and robustness of the BCI control. The modular approach that has been developed using Labview has shown the advantage of simplicity and flexibility to control quadcopters, which can be used to be interfaced with brain computer interface systems, which allows users to control a quadcopter by the brain’s thinking process.
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Çaşka, Serkan. "The Performance of Symbolic Limited Optimal Discrete Controller Synthesis in the Control and Path Planning of the Quadcopter." Applied Sciences 14, no. 16 (August 15, 2024): 7168. http://dx.doi.org/10.3390/app14167168.
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In recent years, quadcopter-type unmanned aerial vehicles have been preferred in many engineering applications. Because of its nonlinear dynamic model that makes it hard to create optimal control, quadcopter control is one of the main focuses of control engineering and has been studied by many researchers. A quadcopter has six degrees of freedom movement capability and multi-input multi-output structure in its dynamic model. The full nonlinear model of the quadcopter is derived using the results of the experimental studies in the literature. In this study, the control of the quadcopter is realized using the symbolic limited optimal discrete controller synthesis (S-DCS) method. The attitude, altitude, and horizontal movement control of the quadcopter are carried out. To validate the success of the SDCS controller, the control of the quadcopter is realized with fractional order proportional-integral-derivative (FOPID) controllers. The parameters of the FOPID controllers are calculated using Fire Hawk Optimizer, Flying Fox Optimization Algorithm, and Puma Optimizer, which are recently developed meta-heuristic (MH) algorithms. The performance of the S-DCS controller is compared with the performance of the optimal FOPID controllers. In the path planning part of this study, the optimal path planning performances of the SDCS method and the MH algorithms are tested and compared. The optimal solution of the traveling salesman problem (TSP) for a single quadcopter and min-max TSP with multiple depots for multi quadcopters are obtained. The methods and the cases that optimize the dynamic behavior and the path planning of the quadcopter are investigated and determined.
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Junaid, Ali, Alejandro Sanchez, Javier Bosch, Nikolaos Vitzilaios, and Yahya Zweiri. "Design and Implementation of a Dual-Axis Tilting Quadcopter." Robotics 7, no. 4 (October 20, 2018): 65. http://dx.doi.org/10.3390/robotics7040065.
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Standard quadcopters are popular largely because of their mechanical simplicity relative to other hovering aircraft, low cost and minimum operator involvement. However, this simplicity imposes fundamental limits on the types of maneuvers possible due to its under-actuation. The dexterity and fault tolerance required for flying in limited spaces like forests and industrial infrastructures dictate the use of a bespoke dual-tilting quadcopter that can launch vertically, performs autonomous flight between adjacent obstacles and is even capable of flying in the event of the failure of one or two motors. This paper proposes an actuation concept to enhance the performance characteristics of the conventional under-actuated quadcopter. The practical formation of this concept is followed by the design, modeling, simulation and prototyping of a dual-axis tilting quadcopter. Outdoor flight tests using tilting rotors, to follow a trajectory containing adjacent obstacles, were conducted in order to compare the flight of conventional quadcopter with the proposed over-actuated vehicle. The results show that the quadcopter with tilting rotors provides more agility and mobility to the vehicle especially in narrow indoor and outdoor infrastructures.
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Sahrir, Nur Hayati, and Mohd Ariffanan Mohd Basri. "Radial Basis Function Network Based Self-Adaptive PID Controller for Quadcopter: Through Diverse Conditions." International Journal of Robotics and Control Systems 4, no. 1 (March 6, 2024): 151–73. http://dx.doi.org/10.31763/ijrcs.v4i1.1261.
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A quadcopter is an underactuated and nonlinear system which requires a robust controller to aid in maneuvering the quadcopter during flight. A Proportional-Integral-Derivative (PID) controller is easy and suitable to implement, and its efficiency is proved in quadcopter control. However, a PID controller with fixed parameters is inadequate enough to control a quadcopter system with different inputs or perturbations. This paper proposes the development of a self-adaptive PID controller assisted by Radial Basis Function (RBF) Network, to improve the function of the PID controller and help a quadcopter to better adapt towards different inputs and situations, independently. This work contributes to introducing RBF-PID controller to adaptively fly the underactuated quadcopter through different trajectory and perturbations using simulation. By using the hidden Gaussian function to train the current input, estimate the suitable output and update the Jacobian Information during system control, the PID gains can change adaptively during flight, additionally with the help of Gradient Descent Method (GDM). The proposed method is compared to the traditional PID controller tuned using the PID Tuner App in Simulink. Different inputs are given to test the altitude, attitudes, and position tracking such as step, multistep, sine wave, circular and lemniscate trajectory. The simulated results proved the robustness of RBF-PID in enhancing the disturbance rejection capacity by 13% to 25% in the presence of perturbations (sine wave and wind gust) compared to PID controller. The proposed controller can ensure quadcopter’s flight stability through perturbations that is within the quadcopter’s limitations.
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Mien, Trinh Luong, and Tran Ngoc Tu. "Design and Quality Evaluation of the Position and Attitude Control System for 6-DOF UAV Quadcopter Using Heuristic PID Tuning Methods." International Journal of Robotics and Control Systems 4, no. 4 (October 13, 2024): 1712–30. https://doi.org/10.31763/ijrcs.v4i4.1594.
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Nowadays, UAV quadcopters are widely used in many fields, specially in transporting the lightweight goods parcels. This article aims to design and evaluation of the quality of the 6-DOF UAV quadcopter control system using heuristic PID tuning methods to ensure stable control of flight position and attitude. Firstly, the article presents the dynamic mathematical model of the 6-DOF UAV quadcopter, including 3 Euler angle variables and 3 flight position and altitude variables. From there, the article proposes the 6-DOF UAV control syste structure with two single control loops for flight attitude, yaw angle and two dual control loops for roll-pitch angles, flight position. And then, the article presents the application of the heuristic PID tuning methods to each control loop of a 6-DOF UAV quadcopter to calculate the PID controller parameters to ensure stable control the desired flight position and altitude. The simulation results and evaluating the 6-DOF UAV quadcopter control system quality in Matlab, using the proposed heuristic PID controllers, show that the PID controllers according to the Tyreus-Luyben method gives the best quality, with a steady-state error of less than 1%. The main contribution of this article is the comparative analysis of three heuristic PID tuning methods - Ziegler-Nichols, Tyreus-Luyben, PID tuner - for controlling the position and attitude of a 6-DOF UAV quadcopter. These findings demonstrate that the proposed PID controllers can be effectively implemented in practical UAV applications, enhancing the stability and performance of quadcopters in various fields.
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Anuar, Kaspul, Anita Susilawati, Syafri Syafri, Warman Fatra, Feblil Huda, Nazaruddin Nazaruddin, and Dedi-Rosa-Putra Cupu. "Design and Development of Quadcopter’s Frame." Journal of Ocean, Mechanical and Aerospace -science and engineering- (JOMAse) 68, no. 1 (March 30, 2024): 33–39. http://dx.doi.org/10.36842/jomase.v68i1.360.
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The purpose of this research is to obtain a design and prototype of quadcopter’s frame, which be developed further as a quadcopter that capable of carrying payload of 1.5 kg with flight time of more than 20 minutes. The design begins with estimating the values of Maximum Take-Off Weight (MTOW), required thrust, propeller dimensions, and wheelbase dimensions of the quadcopter. The results show the MTOW of the quadcopter was 5 kg, with each motor requiring of 2.5 kg of thrust per arm. The wheelbase dimension was 790 mm, and the propeller diameter of 17 inches. A wheelbase dimension was utilized to develop three conceptual frame designs for the quadcopter. The three conceptual designs were selected using a decision matrix table. The selected design was calculated for its structural strength by applying a load of 2.5 kg on each motor mounting. The results show the maximum stress value of 21.17 MPa, the maximum deflection of 3.5 mm, and safety factor of 22.44. Then, the prototype of quadcopter’s frame was manufactured. Therefore, the producing of prototype was measured the mass and deflection. Based on the measurements conducted, the quadcopter frame has an actual mass of 595 grams and a maximum deflection of 3.7 mm. The actual deflection value and the actual mass are close to the deflection and mass obtained from the calculation.
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Swetha, S., R. Anandan, and K. Kalaivani. "An investigation of micro aerial vehicles (µAV)." International Journal of Engineering & Technology 7, no. 2.31 (May 29, 2018): 174. http://dx.doi.org/10.14419/ijet.v7i2.31.13434.
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Quadcopter UAV also known as quadrotor is the another form of helicopters having more spirited firmness than helicopters. They play a paramount role in divergent areas like military operations, surveillance, fire sensing and some important areas having many complications. Quadcopters are UAV's with capability of perpendicular takeoffs, arrivals and drift at a crave location. This survey paper addresses the delineation and evolution of a proclivity arm quadcopter for mini payload and longtime endurance.
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Irfan, Abdullah, Muhammad Gufran Khan, Arslan Ahmed Amin, Syed Ali Mohsin, Muhammad Adnan, and Adil Zulfiqar. "Model-Based Design, HIL Testing, and Rapid Control Prototyping of a Low-Cost POC Quadcopter with Stability Analysis and Control." Complexity 2022 (March 28, 2022): 1–16. http://dx.doi.org/10.1155/2022/1492170.
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Unmanned aerial vehicles (UAVs), particularly quadcopters, have several medical, agriculture, surveillance, and security applications. However, the use of this innovative technology for civilian applications is still very limited in low-income countries due to the high cost, whereas low-cost controllers available in the market are often tuned using the hit and trial approach and are limited for specific applications. This paper addresses this issue and presents a novel proof of concept (POC) low-cost quadcopter UAV design approach using a systematic Model-Based Design (MBD) method for mathematical modeling, simulation, real-time testing, and prototyping. The quadcopter dynamic model is developed, and controllers are designed using Proportional Integral, and Derivative (PID), Pole Placement, and Linear Quadratic Regulator (LQR) control strategies. The stability of the controllers is also checked using Lyapunov stability analysis. For verification and validation (V&V) of the design, Software-in-the-Loop, Processor-in-the-Loop, Hardware-in-the-loop testing, and Rapid Control Prototyping have been performed. The V&V methods of the MBD approach showed practically valid results with a stable flight of the quadcopter prototype. The proposed low-cost POC quadcopter design approach can be easily modified to have enhanced features, and quadcopters with different design parameters can be assembled using this approach for a diverse range of applications.
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Huang, Zichen, Lok Wai Jacky Tsay, Tomoo Shiigi, Xunyue Zhao, Hiroaki Nakanishi, Tetsuhito Suzuki, Yuichi Ogawa, and Naoshi Kondo. "A Noise Tolerant Spread Spectrum Sound-Based Local Positioning System for Operating a Quadcopter in a Greenhouse." Sensors 20, no. 7 (April 1, 2020): 1981. http://dx.doi.org/10.3390/s20071981.
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Quadcopters are beginning to play an important role in precision agriculture. In order to localize and operate the quadcopter automatically in complex agricultural settings, such as a greenhouse, a robust positioning system is needed. In previous research, we developed a spread spectrum sound-based local positioning system (SSSLPS) with a 20 mm accuracy within a 30 × 30 m greenhouse area. In this research, a noise tolerant SSSLPS was developed and evaluated. First, the acoustic noise spectrum emitted by the quadcopter was documented, and then the noise tolerance properties of SSSounds were examined and tested. This was done in a greenhouse with a fixed quadcopter (9.75 N thrust) with the positioning system mounted on it. The recorded quadcopter noise had a broadband noise compared to the SSSound. Taking these SSSound properties into account, the noise tolerance of the SSSLPS was improved, achieving a positioning accuracy of 23.2 mm and 31.6 mm accuracy within 12 × 6 m for both Time-division Multiple Access (TDMA) and Frequency-division Multiple Access (FDMA) modulation. The results demonstrate that the SSSLPS is an accurate, robust positioning system that is noise tolerant and can used for quadcopter operation even within a small greenhouse.
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ABOUGABAL, Mohamed H., Mohammad K. GAMAL, Mohamed T. MOHAMED AMIEN, Shehab O. MOHAMED, and Ayman H. KASSEM. "Quadcopter-Rover System for Environmental Survey Applications." INCAS BULLETIN 16, no. 2 (June 10, 2024): 17–33. http://dx.doi.org/10.13111/2066-8201.2024.16.2.2.
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This paper explores the development of a Quadcopter-Rover System specifically designed for environmental survey applications. The system combines the capabilities of a quadcopter and a rover to provide a comprehensive and versatile solution for data collection and analysis. The paper presents a detailed overview of the system's modelling, design, and manufacturing of the two main components: the quadcopter and the differential wheel robot (the rover). The quadcopter’s main task is to carry the rover to/from the ground destination and collect aerial data while the rover`s main task is ground exploration and data collection. The paper discusses the development of a robust and efficient control algorithm that enables autonomous and coordinated operation between the quadcopter and the rover. Experimental results demonstrate the system's effectiveness in conducting environmental surveys, showcasing its ability to accurately navigate challenging terrains, and collect valuable data for environmental analysis. The Quadcopter-Rover System offers significant potential in applications such as ecological monitoring, disaster management, and precision agriculture, where comprehensive and efficient data collection is crucial for informed decision-making.
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Firmansyah, Rendra Dwi, Budi Sumanto, and Rella Mareta. "Rancang Bangun Quadrotor Dengan Kendali Robust Pid Untuk Pemetaan Sawah Pra Panen." Jurnal Nasional Teknologi Terapan (JNTT) 2, no. 1 (October 2, 2018): 112. http://dx.doi.org/10.22146/jntt.39203.
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Field mapping is important to know the potential of agricultural productivity in a region.Furthermore, field mapping can also be used to predict crops in a region. The mapping can be donethrough aerial photographs. Aerial photographs can be performed using manned aerial vehicle aswell as unmanned aerial vehicle. Currently, many aerial photographs are taken using unmannedaerial vehicle because the cost is much more affordable than using a manned aerial vehicle. One typeof unmanned aircraft used for aerial photographs is quadcopter. However taking aerial photographsusing a quadcopter often produces blurry images due to its instability. Instability of the quadcopter iscaused by several factors including sensor readings such as IMU, GPS, compass, and barometer,disturbance factors such as angina, and control systems that are less robust to quadcopter characters.To get a stable quadcopter, a control system that matches the quadcopter character and has aresistance to interference is needed. One of the control systems that can be applied to the quadcopteris the Robust PID control system. Reliability of the control system can be seen using ITAE (IntegralTime Absolute Error). The smaller the value of ITAE the better the control system. Some tuningmethods are done to get the Robust PID control system. The method used in this research is ZieglerNicols, fine tuned PID controller, and ITAE tuning method. The result of PID constant tuning is thenimplemented to quadcopter. In this study the response data was obtained by using IMU sensor. Theresult shows that of the three tuning methods implemented in the quadcopter, the Fine tuning methodgives better results than the others.
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Pandipati, Suman, K. Rakesh, L. Mahesh Kumar, P. J. V. Lokesh, Y. Jeevan, and Roopsandeep Bammidi. "FABRICATION OF QUADCOPTER FOR AGRICULTURAL SPRAYING." International Journal of Advances in Agricultural Science and Technology 10, no. 4 (April 30, 2023): 13–16. http://dx.doi.org/10.47856/ijaast.2023.v10i04.002.
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Unmanned aerial vehicles (UAVs) are being used more frequently for agricultural spraying as a result of their effectiveness and precision. This project involved building a quadcopter without sensors, cameras, or GPS for agricultural spraying. The quadcopter was created to rapidly and effectively cover a sizable amount of agricultural land, while also minimizing the usage of pesticides and the impact on the environment. The quadcopter's frame, which was made of lightweight materials to give strength and durability while minimizing the aircraft's overall weight, was used in its construction. The quadcopter's frame was made to accommodate four brushless motors, each of which had a propeller to give lift and movement. Four electronic speed controllers (ESCs) were used to control the motors' rotational speed and direction. The high-capacity lithium-polymer (LiPo) battery used by the quadcopter has sufficient power to run the motors and spraying system continuously. A tank, a pump that pressurized the liquid, and a nozzle that released the pressurized liquid over the crops as a fine mist made up the spraying system. A KK 2.1.5 circuit board served as the foundation for the flight control system, which was wired to the battery, four ESCs, and other components. The quadcopter's circuit board was configured to retain its position and altitude while flying steadily. Additionally, it provided buttons and an LCD panel for the user to use to change flying characteristics including the throttle, pitch, and roll. A handheld radio transmitter that interacted with a quadcopter receiver was used to control the aircraft.
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Chen, C. W., P. H. Hsieh, and W. H. Lai. "APPLICATION OF DECISION TREE ON COLLISION AVOIDANCE SYSTEM DESIGN AND VERIFICATION FOR QUADCOPTER." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLII-2/W6 (August 23, 2017): 71–75. http://dx.doi.org/10.5194/isprs-archives-xlii-2-w6-71-2017.
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The purpose of the research is to build a collision avoidance system with decision tree algorithm used for quadcopters. While the ultrasonic range finder judges the distance is in collision avoidance interval, the access will be replaced from operator to the system to control the altitude of the UAV. According to the former experiences on operating quadcopters, we can obtain the appropriate pitch angle. The UAS implement the following three motions to avoid collisions. Case1: initial slow avoidance stage, Case2: slow avoidance stage and Case3: Rapid avoidance stage. Then the training data of collision avoidance test will be transmitted to the ground station via wireless transmission module to further analysis. The entire decision tree algorithm of collision avoidance system, transmission data, and ground station have been verified in some flight tests. In the flight test, the quadcopter can implement avoidance motion in real-time and move away from obstacles steadily. In the avoidance area, the authority of the collision avoidance system is higher than the operator and implements the avoidance process. The quadcopter can successfully fly away from the obstacles in 1.92 meter per second and the minimum distance between the quadcopter and the obstacle is 1.05 meters.
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Li, Yuenan. "Research on the Application of Neural Network PID in Quadcopter Aircraft." Journal of Big Data and Computing 2, no. 2 (June 2024): 137–43. http://dx.doi.org/10.62517/jbdc.202401218.
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As a highly maneuverable and flexible unmanned aerial vehicle, quadcopters have broad application prospects in both civilian and military fields. However, due to their complex dynamic characteristics, nonlinearity, and strong coupling, achieving stable and precise control of quadcopters is a challenging task. Traditional control methods often fail to meet the control performance requirements for such complex nonlinear systems. Neural networks provide a new approach to solving control problems in complex systems due to their powerful learning and adaptive capabilities. Neural networks can improve the performance of control systems by learning from large amounts of data, capturing the dynamic characteristics of the system, and adjusting control strategies online. Combining neural networks with PID control is expected to fully leverage the advantages of both. Neural networks can adjust the parameters of PID controllers in real-time, enabling them to better adapt to the complex dynamic changes and external disturbances of quadcopter aircraft. This fusion control method brings new possibilities for improving the control performance of quadcopter aircraft. This study explores the application of neural network PID in quadcopter aircraft to achieve stable and precise control, laying the foundation for its widespread promotion in practical applications.
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Chandran, Navaneetha Krisnan, Adi Azriff Basri, Ernnie Illyani Basri, and Mohammed Thariq Hameed Sultan. "Experimental Study on Low-Cost Sensor Sensitivity of Inspection Quadcopter’s Anti-Collision System." E3S Web of Conferences 477 (2024): 00026. http://dx.doi.org/10.1051/e3sconf/202447700026.
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This manuscript presents the experimental study on low-cost sensor sensitivity of inspection quadcopter’s anti-collision system. This inspection quadcopter is designed to be operated in aerodrome or hanger for the inspection of wide body aircraft for lightning strikes. One of most important features that the inspection quadcopter must equipped with is anti-collision system. The anti-collision system will ensure the inspection quadcopter maintain a safe distance from the aircraft and other structures during the inspection process. As one of the project’s objectives is to design and develop an anti-collision system for the inspection quadcopter, it is aimed at developing using low-cost sensors and components. Experiments were done to choose the best low-cost sensor to be used as the rangefinder in the inspection quadcopter’s anti-collision system. The sensitivity of the low-cost sensors were tested by comparing the measured distance and the actual distance of obstacles. The percentage error reflects the sensitivity of the sensor under certain circumstances. The second objective of this research is integrating the best low-cost sensors the anti-collision system. The anti-collision system was programmed using Arduino IDE software. Lastly, the third object of this research, which is to experiment the performance of anti-collision system was achieved by performing the ground test on the anti-collision system of the inspection quadcopter. The performance of anti-collision was shown on the PWM correction signal generated by the anti-collision system. In conclusion, this paper shows the engineering approach on an industrial problem on developing an anti-collision system using low-cost sensors.
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Nechyporenko, Olena, and Andriyi Burenin. "Ranking of factors influencing the functional reliability of a quadcopter and improving its automatic control system." MECHANICS OF GYROSCOPIC SYSTEMS, no. 39 (May 20, 2020): 44–55. http://dx.doi.org/10.20535/0203-3771392020229092.
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The article presents the results of the study of internal and external factors influencing the reliability of a quadcopter.
The aim of the research was to develop a ranking method of internal and external factors affecting the reliability of the quadcopter, and to rank them according to the developed method, which takes into account the main sources of failures and influences on the reliability of its automatic control system, and on their basis to develop a rational algorithm of quadcopter’s automatic control system.
In the developed ranking method, the value of the statistical estimation of the probability of failure-free operation of each quadcopter component was selected as a ranking criterion.
In the analysis of the reliability of the quadcopter, structural methods of calculating the reliability were chosen, because they give more unbundling into elements and blocks, which is important for finding the characteristics of reliability. The article presents the calculations of reliability indicators for each element, unit and the entire UAV, developed a structural and logical scheme of reliability of the quadcopter.
According to the developed ranking method, the algorithm of operation of the quadcopter automatic control system is designed, which does not exceed the main restrictions associated with the operation of the quadcopter in general, with proper operation of elements, units, systems and equipment, which increases the reliability of automatic control system and UAV in general.
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Gotov, Bat-Erdene, Tengis Tserendondog, Lodoiravsal Choimaa, and Batmunkh Amar. "Quadcopter Stabilization using Neural Network Model from Collected Data of PID Controller." ICT Focus 1, no. 1 (September 29, 2022): 10–21. http://dx.doi.org/10.58873/sict.v1i1.28.
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There are a lot of methods for the stabilization of quadcopters and the newest are based on AI. A neural network is a simplified model that imitates the human brain's processes. In the research paper, we present a neural network control model for quadcopter stabilization. A single hidden layer network model was estimated to investigate the dynamics of the UAV. A control system with a classical PID controller was used to train the neural network model. This method is used for examining how the neural network imitates the stabilization of the quadcopter in real flight mode. The novelty of the work was to design of small size 3 layers NN model that runs in real-time in a quadcopter. The PID and machine learning controllers' operation results were compared to each other andshown in the experiment.
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Isdaryani, Feni, Muhammad Nauval Shidiq, Yoshiadi Wicaksono, and Noor Cholis Basjaruddin. "Flight Controller Design for Altitude Control of a Quadcopter using PID and Fuzzy Methods." JTERA (Jurnal Teknologi Rekayasa) 7, no. 2 (December 31, 2022): 251. http://dx.doi.org/10.31544/jtera.v7.i2.2022.251-258.
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A quadcopter can be manually controlled or can be autonomous. Therefore, a control system is needed to support the quadcopter's movement. PID and fuzzy control are used in this research to adjust the quadcopter's altitude position. The control system proposed in this research is to keep the quadcopter at a certain altitude. The control system design uses a PID controller, where the control parameters are obtained using the Ziegler-Nichols 2 tuning method. Ziegler-Nichols 2 tuning method is used to obtain the parameters Kp, Ti, and Td. PID control tuning becomes a reference for fuzzy control design in determining input and output membership functions and the rules. Also, in this study, the flight controller board design is proposed. The experiment results show that the PID control has a faster rise time of 0.2 seconds, a better maximum overshoot of 1.56%, a quicker settling time of 1.69 seconds, and a steady-state error of 0% compared to the fuzzy control. The result shows that the use of PID control is more suitable for proposed quadcopter plants because it requires a fast output response.
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Nugroho, Agung, Haris Khairurozi, Herwin Suprijono, and M. Ary Heryanto. "KENDALI PID PADA QUADCOPTER UNTUK GERAK ATTITUDE PITCH DAN ROLL SAAT HOVERING." Elektrika 16, no. 1 (April 26, 2024): 30. http://dx.doi.org/10.26623/elektrika.v16i1.9019.
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<p class="Abstract">The quadcopter represents one of the emerging research areas in unmanned aerial vehicle (UAV) technology. One of its advantages lies in its simple mechanism and smaller propeller size compared to helicopters, while maintaining the same lifting capacity. The quadcopter employs inner and outer control schemes, where the inner control manages attitude roll, pitch, yaw, and altitude, thereby affecting the motion of the quadcopter. Meanwhile, the outer control governs the direction of the quadcopter's movement. This condition underscores the significance of inner control, ensuring the quadcopter's maneuverability. Consequently, there is a need to design an attitude, pitch, and roll control using the PID method. This experiment focuses on roll and pitch control under hover conditions. The PID control experiment yielded optimal results with parameters K<sub>P</sub> = 60, K<sub>I</sub> = 22, and K<sub>D</sub> = 14, exhibiting rapid response, absence of oscillation, deviations smaller than 20<sup>o</sup> in both roll and pitch controls, and the ability to return the attitude to the initial setpoint position when disturbances occur.</p><p> </p><p class="IndexTerms"><strong>Keywords</strong>: Attitude, hovering, PID controller, quadcopter.</p><p> </p><p class="Abstract" align="center"><strong>ABSTRAK</strong></p><p class="Abstract">Quadcopter merupakan salah satu bidang riset yang baru dalam teknologi unmanned aerial vehicle (UAV). Salah satu keunggulan pada Quadcopter adalah mekanisme yang sederhana dan ukuran pada baling-baling yang lebih kecil dibandingkan dengan helicopter dengan daya angkat yang sama. Quadcopter memiliki skema kendali inner dan kendali outer, dimana kendali inner mengendalikan attitude roll, pitch, yaw, dan altitude yang berimplikasi pada gerak quadcopter. Sedangkan kendali outer mengendalikan arah gerak quadcopter. Kondisi ini menjadikan kendali inner sangat penting sehingga mampu menjaga quadcopter dapat bergerak. Untuk itu perlu dirancang suatu kendali attitude pitch dan roll dengan metode PID. Eksperimen ini focus pada kendali roll dan pitch di kondisi hover. Hasil eksperimen kendali PID pada roll dan pitch didapatkan hasil terbaik pada parameter K<sub>P</sub>=60, K<sub>I</sub>=22, dan K<sub>D</sub>=14 yang memiliki respon cepat, tidak terjadi osilasi, lonjakan lebih kecil dari 20<sup>o</sup> baik pada kendali roll maupun pitch, dan mampu mengembalikan attitude pada posisi setpoint awal apabila diberi gangguan.</p><div id="gtx-trans" style="position: absolute; left: -26px; top: 21px;"> </div>
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Kumar, Ashish, Sugjoon Yoon, and V. R. Sanal Kumar. "Mixed Reality Simulation of High-Endurance Unmanned Aerial Vehicle with Dual-Head Electromagnetic Propulsion Devices for Earth and Other Planetary Explorations." Applied Sciences 10, no. 11 (May 28, 2020): 3736. http://dx.doi.org/10.3390/app10113736.
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One of the major limitations of existing unmanned aerial vehicles is limited flight endurance. In this study, we designed an innovative uninterrupted electromagnetic propulsion device for high-endurance missions of a quadcopter drone for the lucrative exploration of earth and other planets with atmospheres. As an airborne platform, this device could achieve scientific objectives better than state-of-the-art revolving spacecraft and walking robots, without any terrain limitation. We developed a mixed reality simulation based on a quadcopter drone and an X-Plane flight simulator. A computer with the X-Plane flight simulator represented the virtual part, and a real quadcopter operating within an airfield represented the real part. In the first phase of our study, we developed a connection interface between the X-Plane flight simulator and the quadcopter ground control station in MATLAB. The experimental results generated from the Earth’s atmosphere show that the flight data from the real and the virtual quadcopters are precise and very close to the prescribed target. The proof-of-concept of the mixed reality simulation of the quadcopter at the Earth atmosphere was verified and validated through several experimental flights of the F450 spider quadcopter with a Pixhawk flight controller with the restricted endurance at the airfield location of Hangang Drone Park in Seoul, South Korea. We concluded that the new generation drones integrated with lightweight electromagnetic propulsion devices are a viable option for achieving unrestricted flight endurance with improved payload capability for Earth and other planetary explorations with the aid of mixed reality simulation to meet the mission flight path demands. This study provides insight into mixed reality simulation aiming for Mars explorations and high-endurance missions in the Earth’s atmosphere with credibility using quadcopter drones regulated by dual-head electromagnetic propulsion devices.
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Cooper, Yashaan Nari, R. K. Ganesh Ram, V. Kalaichelvi, and Vishank Bhatia. "Stabilization and Control of an Autonomous Quadcopter." Applied Mechanics and Materials 666 (October 2014): 161–65. http://dx.doi.org/10.4028/www.scientific.net/amm.666.161.
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A Quadcopter is a helicopter which has four equally spaced rotors, usually arranged at the corners of a square body. Due to four independent rotors, the need for a swashplate mechanism is palliated. The swashplate mechanism was required to allow the helicopter to utilize more degrees of freedom, but the same level of control could be obtained by adding two more rotors. The development of Quadcopter was stalled until very recently, because controlling four independent rotors was proven to be incredibly difficult and impossible without electronic assistance which has made even completely autonomous control of quadcopters feasible for commercial, military, and even hobbyist purposes. The paper offers dynamic simulation of brushless DC motor speed control used in a quadcopter and also focuses on design and implementation of PID (Proportional-Integral-Derivative) controller through simulation for proper controlling of altitude roll and pitch in a quadcopter. The effectiveness of proposed controller can be analyzed by considering the performances of peak time, settling time and overshoots for various set point changes in the throttle movements. All simulation studies have been carried out using the MATLAB software.
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Rukavitsyn, Alexander Nikolaevich, and Leon Andreas Santiago Martinez. "Designing unmanned aircraft frame using composite materials." Vestnik of Astrakhan State Technical University 2021, no. 2 (November 30, 2021): 56–63. http://dx.doi.org/10.24143/1812-9498-2021-2-56-63.
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The paper considers approaches to creating a new type of unmanned aircrafts - quadcopters. It is stated that the efficiency of a quadcopter directly depends on its frame design and the structural materials used. The approaches to designing the aircraft frame using computer-aided design tools (SolidWorks package) are described. The stress maps obtained during the strength study for the frame beam made of carbon fiber allow asserting a large margin of structural strength. The strength calculation carried out predetermined the need to take into account the influence of additional factors (the air flow created by the traction screws). The existing restrictions on the maximum size of the rotating propellers predetermined the design of the quadcopter frame taking into account the maximum number of possible aerodynamic effects that determine the stability of flight characteristics by minimizing interference from air turbulence, as well as from possible natural phenomena. The designed quadcopter frame has special aerodynamic surfaces that allow for a stable flight path in a volatile air environment. The generated torque is determined by the characteristics of the traction screw motors. The influence of the isosurface air flow on the design of the quadcopter was evaluated.
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Mohammed, Baba, Bennaceur Said, and Bounaama Fateh. "Feedforward neural network emulation of a PID continuous-time controller for quadcopter attitude digital control." International Journal of Power Electronics and Drive Systems (IJPEDS) 14, no. 2 (June 1, 2023): 799. http://dx.doi.org/10.11591/ijpeds.v14.i2.pp799-808.
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<p>Quadcopters are popular UAVs owing to their compact size and maneuverability. Quadcopters are unmanned aircraft guided by remote control, and the demand for them is increasing due to their widespread surveillance, goods delivery, aerial photography, and defense applications. Nonlinear quadcopter operation makes control system implementation very challenging. In this paper, based on artificial intelligence (AI), we train a feedforward neural network (FFNN) controller of a traditional proportional integral derivative (PID). The conventional (PID) is generally tuned to improve the quadcopter control and performance. FFNN can perform offline learning between the inputs and outputs of the controller to learn its behavior. Once the learning is complete, we replace the PID controller with the neural network controller, to get a controller that can maintain system stability,and overcome the limitations of hardware implementation problems caused by the classical PID controller.</p>
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Kotenko, A. V., and V. E. Kotenko. "Using Tello quadcopters when studying the course "Introduction to programming in Python"." Informatics in school, no. 5 (November 25, 2023): 74–81. http://dx.doi.org/10.32517/2221-1993-2023-22-5-74-81.
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The article discusses the capabilities of Tello educational quadcopters and their use in Python programming classes. The topics of modules that are recommended to be studied using quadcopters are given. When describing the modules, the basic concepts of the Python programming language, the features of its use in conjunction with quadcopter DJI Tello, safety precautions when working with a quadcopter, and its structure are considered. The concepts of an algorithm, its properties, and the main types of algorithms are described. The emphasis is on the consideration of a linear algorithm; examples of the implementation of linear algorithms for autonomous flight are given, as well as examples of programs for obtaining information from on-board sensors. Possible examples of tasks that can be offered to students when studying each module are considered. The article is intended for informatics teachers, students of pedagogical universities, and additional education teachers.
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Kostin, A. S., and Y. A. Silin. "DESIGN OF UNMANNED AERIAL SYSTEM OF MULTIROTOR TYPE BASED ON A 5-INCH QUADCOPTER TO PRACTICE PILOTING SKILLS AND FIRST-PERSON AERIAL MONITORING." System analysis and logistics 4, no. 34 (December 20, 2022): 125–34. http://dx.doi.org/10.31799/2077-5687-2022-4-125-134.
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In this article the basic elements of an unmanned aerial system of multirotor type, necessary for the assembly of a sports (racing) quadcopter for first-person piloting using a special camera and helmet, are considered. An analysis of classifications of components for different types of sports quadcopters was carried out, and in practice the optimal components for the assembly of an unmanned aircraft system based on a 5-inch frame with the final results of the practical application of the assembled design were selected. The window forms of the design and a comparison of the flight characteristics are given. The article provides a schematic diagram of the connection of electronic components of the quadcopter on-board system. As a result of the performed analysis of the components, the practical implementation of the racing quadcopter is performed and the practical study of flight modes in the laboratory of unmanned aircraft systems of the SUAI engineering school is presented.
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Djizi, Hamza, Zoubir Zahzouh, and Azzedine Bouzaouit. "Quadcopter Prototype Stability Assessment With Pid Controller And Euler-Lagrange Approach." Scientific Bulletin of Electrical Engineering Faculty 23, no. 1 (September 1, 2023): 15–20. http://dx.doi.org/10.2478/sbeef-2023-0003.
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Abstract The increasing use of drones in various fields has led to their popularity in developed countries due to their ease of use and manufacture. This Miniature Pilotless Aircraft has numerous beneficial usages such as express shipping, gathering information, crop monitoring, cargo transport, storm tracking, geographic mapping of inaccessible terrain, search and rescue operations, among others. This study aims to investigate the stability of a quadcopter through simulations based on the mathematical model that describes the quadcopter’s dynamic and flight mechanics, using the Euler-Lagrange approach. It conducts simulations in MATLAB and present the principles that govern quadcopter stability, focusing on setting the PID coefficients to achieve optimal stability. This study provides insights into the principles of drone mechanics and stability, enabling us to better understand the quadcopter’s behavior and performance.
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Junaedy, Alfin, Hiroyuki Masuta, Yotaro Fuse, Kei Sawai, Tatsuo Motoyoshi, and Noboru Takagi. "Online Topological Mapping on a Quadcopter with Fast Growing Neural Gas." Journal of Advanced Computational Intelligence and Intelligent Informatics 28, no. 6 (November 20, 2024): 1354–66. http://dx.doi.org/10.20965/jaciii.2024.p1354.
Full textAbstract:
This paper presents an online topological mapping method on a quadcopter with fast-growing neural gas. Recently, perceiving the real world in 3D space has become increasingly important, and robotics is no exception. Quadcopters are the most common type of robot working in 3D space. The ability to perceive 3D space is even required in order to enable real-time autonomous control. Dense maps are simply unpractical, while sparse maps are not suitable due to a lack of appropriate information. Topological maps then offer a balance between computational cost and accuracy. One of the most well-known unsupervised learning methods for topological mapping is growing neural gas (GNG). Unfortunately, it is difficult to increase the learning speed due to the traditional iterative method. Consequently, we propose a new method for topological mapping, called simplified multi-scale batch-learning GNG, by applying a mini-batch strategy in the learning process. The proposed method has been implemented on a quadcopter for indoor mapping applications. In addition, the topological maps are also combined with the tracking data of the quadcopter to generate a new global map. The combination is simple yet robust, based on rotation and translation strategies. Thus, the quadcopter is able to run the algorithms in real-time and maintain its performance above 30 fps.
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Elagib, Rahmi, and Ahmet Karaarslan. "Sliding Mode Control-Based Modeling and Simulation of a Quadcopter." Journal of Engineering Research and Reports 24, no. 3 (February 8, 2023): 32–41. http://dx.doi.org/10.9734/jerr/2023/v24i3806.
Full textAbstract:
This article discusses the use of Sliding Mode Control (SMC) for the control of a four-rotor vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV). The Newton-Euler method is utilized to build the quadcopter's dynamic model. The model is divided into under-actuated and fully actuated subsystems. Even though controlling UAVs is difficult owing to their extremely nonlinear characteristics, previous experimental trials and simulation studies have proved that the sliding mode controller yields satisfactory performance and disturbance tolerance. The contribution of this study is the presenting of an accurate quadcopter modeling and simulation employing a sliding mode controller and a Newton-Euler formula to reduce chattering. In this study, SMC was used to control the altitude and attitude of the quadcopter. MATLAB/Simulink was used to show the quadcopter dynamic model and controller model, and the result illustrating the controller's performance in different conditions was acquired.
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Kurbanov, Rashid, Maxim Litvinov, Stanislav Krivko, Natalia Zakharova, and Alexey Kuprin. "Justification of optimal parameters for quadcopter PID-controllers with frame sizes up to 150 mm." E3S Web of Conferences 431 (2023): 06014. http://dx.doi.org/10.1051/e3sconf/202343106014.
Full textAbstract:
Unmanned aerial vehicles with a frame of up to 150 mm are used in agriculture to solve problems in smart greenhouses. Calculating the values of PID-regulators when optimizing the drone operation allows to reduce the risks of flight controller misadjustment and increase the accuracy of its control in different flight conditions. The aim of the study is to calculate the optimal values` of the PID controllers of the UAV, develop an algorithm for coefficient calculation, and compute the proportional, integrating, and differentiating errors along the deviation axes. The authors have developed a quadcopter with a take-off weight of up to 150 g for monitoring an industrial greenhouse. The mathematical theory of optimal control and stabilization was applied. A research analysis on the optimization of quadcopter flight was carried out. Experimental research in mechanics on adjusting the stability and acceleration of the quadcopter prototype during flight was carried out. Based on the mathematical formula for calculating the control signal, an algorithm was developed to calculate the coefficients and to compute the proportional, integrating, and differentiating errors in the axes of control deviation of the quadcopter’s brushless motors. Optimized settings of the PID-regulator stabilization system in Betaflight Configurator program for stable flight of the quadcopter prototype are selected, taking into account design and technical characteristics. The optimal values of coefficients (Kp, Ki, Kd) on the roll, pitch and yaw axes for the quadcopter prototype under development were justified.
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Baharuddin, A'dilah, and Mohd Ariffanan Mohd Basri. "Self-Tuning PID Controller for Quadcopter using Fuzzy Logic." International Journal of Robotics and Control Systems 3, no. 4 (October 3, 2023): 728–48. http://dx.doi.org/10.31763/ijrcs.v3i4.1127.
Full textAbstract:
Tracking has become a necessary feature of a drone. This is due to the demand for drones, especially quadcopters, to be used for activities such as surveillance, monitoring, and filming. It is crucial to ensure the quadcopters perform the tracking with stable flight. Despite the advantages of having VTOL ability and great maneuverability, quadcopters require an effective controller to overcome their under-actuation and instability behavior. Even though a PID controller is commonly used and promising with its simple mechanism, it requires very proper tuning to ensure the stability of the system is not affected. In this paper, a simple Fuzzy algorithm is proposed to be incorporated into a PID controller to form a self-tuning Fuzzy PID controller. The Fuzzy logic controller works as the self-adjuster to the PID parameters. A mathematical model of the DJI Tello quadcopter is derived with position and attitude control loops that are designed to track a variety of trajectories with stable flight. The proposed method uses a simple architecture where the ranges of PID parameters are used as scaling factors for Fuzzy controller outputs. The results of the simulations show the tracking error performance metrics, which are IAE, ISE, and RMSE, are smaller compared to the values of the PID controller. Beyond its impact on quadcopter control, the proposed self-tuning approach holds promise for broader applications in nonlinear systems.
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Abdulkareem, Ademola, Victoria Oguntosin, Olawale M. Popoola, and Ademola A. Idowu. "Modeling and Nonlinear Control of a Quadcopter for Stabilization and Trajectory Tracking." Journal of Engineering 2022 (October 10, 2022): 1–19. http://dx.doi.org/10.1155/2022/2449901.
Full textAbstract:
This paper presents an adequate mathematical representation of a quadcopter’s system dynamics and effective control techniques. A quadcopter is an unmanned aerial vehicle (UAV) that is able to do vertical take-off and landing. This study presents a nonlinear quadcopter system’s mathematical modeling and control for stabilization and trajectory tracking. The mathematical model of the system dynamics of the quadcopter is derived using Newton and Euler equations with proper references to the appropriate frame or coordinate system. A PD control algorithm is developed for the nonlinear system for stabilization. Another nonlinear control technique called full state feedback linearization (FBL) using nonlinear dynamic inversion (NDI) is developed and implemented on the quadcopter system. However, there is a problem with the normal approach of the complete derivation of the full state FBL system using NDI as gathered from the literature review. In such an approach, the PD controller that was used for attitude stabilization was able to stabilize the angles to zero states, but the position variables cannot be stabilized because the state variables are not observable. Thus, a new approach where the position variables are mapped to the angle variables which are controllable so as to drive all states to zero stability was proposed in this study. The aim of the study was achieved but the downside is that it takes a longer time to achieve this stability so it is not efficient and should only be considered when absolute zero stability is the aim without considering time efficiency. The study further investigates the problem of nonlinear quadcopter system’s mathematical modelling and control for stabilization and trajectory tracking using the feedback linearization (FBL) technique combined with the PD controller. The proposed control algorithms are implemented on the quadcopter model using MATLAB and analyzed in terms of system stabilization and trajectory tracking. The PD controller produces satisfactory results for system stabilization, but the FBL system combined with the PD controller performs better for trajectory tracking of the quadcopter system.
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Sukmaningrum, Miranti, Ahmad Wilda Yulianto, and Muhammad Nanak Zakaria. "Quadcopter Stability Control System Using PID And Kalman Filter." jartel 13, no. 4 (December 23, 2023): 380–84. http://dx.doi.org/10.33795/jartel.v13i4.470.
Full textAbstract:
Quadcopter is an Unmanned Aerial Vehicle (UAV) that uses 4 motors arranged crosswise as a propulsion system. The quadcopter's capabilities are supported by a main component called the flight controller or control system. The operation of this unmanned aircraft is controlled automatically through a program run from the GCS (Ground Control Station) so that the quadcopter can fly according to the desired destination. The control system is needed to maintain the balance of the quadcopter while flying and maneuvering to remain stable. PID (Proposional Integral Derivative) method as a counterweight when manoeuvring on the y-axis (pitch) and x-axis (roll) and Kalman Filter as processing the resulting sensor output. The results of this study show that setting the value for the proportional constant (Kp), integral constant (Ki) and derivative constant (Kd) determines the quadcopter can fly or maneuver well. The gain values used are Kp of 0.135, Ki of 0.135 and Kd of 0.003. However, the output generated by the gyroscope in pitch and roll still has noise caused by the vibration of the mover during flight and maneuvering. So the Kalman filter is needed to find out the value that is close to the actual output of the gyroscope.