Modeling, Construction and Control of Quadrotors
Autor(a) principal: | |
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Data de Publicação: | 2021 |
Outros Autores: | , |
Tipo de documento: | Artigo de conferência |
Idioma: | eng |
Título da fonte: | Repositório Institucional da UNESP |
Texto Completo: | http://dx.doi.org/10.1007/978-3-030-60694-7_16 http://hdl.handle.net/11449/233107 |
Resumo: | Flight stabilization control of UAVs (Unmanned Aerial Vehicles) quadrotors covers several areas of engineering knowledge, such as mechanics, electronics and computing. The aim of this work is the development of different controllers for such stabilization. Two controllers, a PID and a LQR, were developed and evaluated in order to establish a comparison between the results obtained for each one and to determine which one is the most efficient. For such development, a mathematical model of the UAV in question was obtained in order to enable the design of the controllers. The model parameters are from a real quadrotor that was built to validate the mathematical model and the efficiency of the designed controllers. The prototype was designed to have sufficient flight autonomy to carry out the tests, mechanical resistance to all conditions that can be exposed during the flight, such as wind and vibrations, and be controllable. In order to validate the efficiency of the developed controllers, simulations and tests were applied to the prototype attached to a gyroscopic test structure. To perform the simulations, the plant to be controlled was the model previously obtained. Nevertheless, the experimental tests applied to the prototype, on the other hand, suffered non modelled phenomena such as inertia coupling of the test structure and nonlinearities. The results showed that all the designed controllers are capable of stabilizing the flight of the quadrotor. |
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Modeling, Construction and Control of QuadrotorsControlLQRModelingPIDQuadrotorStabilizationFlight stabilization control of UAVs (Unmanned Aerial Vehicles) quadrotors covers several areas of engineering knowledge, such as mechanics, electronics and computing. The aim of this work is the development of different controllers for such stabilization. Two controllers, a PID and a LQR, were developed and evaluated in order to establish a comparison between the results obtained for each one and to determine which one is the most efficient. For such development, a mathematical model of the UAV in question was obtained in order to enable the design of the controllers. The model parameters are from a real quadrotor that was built to validate the mathematical model and the efficiency of the designed controllers. The prototype was designed to have sufficient flight autonomy to carry out the tests, mechanical resistance to all conditions that can be exposed during the flight, such as wind and vibrations, and be controllable. In order to validate the efficiency of the developed controllers, simulations and tests were applied to the prototype attached to a gyroscopic test structure. To perform the simulations, the plant to be controlled was the model previously obtained. Nevertheless, the experimental tests applied to the prototype, on the other hand, suffered non modelled phenomena such as inertia coupling of the test structure and nonlinearities. The results showed that all the designed controllers are capable of stabilizing the flight of the quadrotor.School of Engineering São Paulo State UniversityInstitute of Science and Technology At Sorocaba São Paulo State UniversitySchool of Engineering São Paulo State UniversityInstitute of Science and Technology At Sorocaba São Paulo State UniversityUniversidade Estadual Paulista (UNESP)Lima, Fernando M. B. [UNESP]Bueno, Átila M. [UNESP]Silva, Paulo S. [UNESP]2022-05-01T03:42:50Z2022-05-01T03:42:50Z2021-01-01info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/conferenceObject245-265http://dx.doi.org/10.1007/978-3-030-60694-7_16Mechanisms and Machine Science, v. 95, p. 245-265.2211-09922211-0984http://hdl.handle.net/11449/23310710.1007/978-3-030-60694-7_162-s2.0-85102184351Scopusreponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPengMechanisms and Machine Scienceinfo:eu-repo/semantics/openAccess2022-05-01T03:42:50Zoai:repositorio.unesp.br:11449/233107Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462024-08-05T19:18:21.078250Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)false |
dc.title.none.fl_str_mv |
Modeling, Construction and Control of Quadrotors |
title |
Modeling, Construction and Control of Quadrotors |
spellingShingle |
Modeling, Construction and Control of Quadrotors Lima, Fernando M. B. [UNESP] Control LQR Modeling PID Quadrotor Stabilization |
title_short |
Modeling, Construction and Control of Quadrotors |
title_full |
Modeling, Construction and Control of Quadrotors |
title_fullStr |
Modeling, Construction and Control of Quadrotors |
title_full_unstemmed |
Modeling, Construction and Control of Quadrotors |
title_sort |
Modeling, Construction and Control of Quadrotors |
author |
Lima, Fernando M. B. [UNESP] |
author_facet |
Lima, Fernando M. B. [UNESP] Bueno, Átila M. [UNESP] Silva, Paulo S. [UNESP] |
author_role |
author |
author2 |
Bueno, Átila M. [UNESP] Silva, Paulo S. [UNESP] |
author2_role |
author author |
dc.contributor.none.fl_str_mv |
Universidade Estadual Paulista (UNESP) |
dc.contributor.author.fl_str_mv |
Lima, Fernando M. B. [UNESP] Bueno, Átila M. [UNESP] Silva, Paulo S. [UNESP] |
dc.subject.por.fl_str_mv |
Control LQR Modeling PID Quadrotor Stabilization |
topic |
Control LQR Modeling PID Quadrotor Stabilization |
description |
Flight stabilization control of UAVs (Unmanned Aerial Vehicles) quadrotors covers several areas of engineering knowledge, such as mechanics, electronics and computing. The aim of this work is the development of different controllers for such stabilization. Two controllers, a PID and a LQR, were developed and evaluated in order to establish a comparison between the results obtained for each one and to determine which one is the most efficient. For such development, a mathematical model of the UAV in question was obtained in order to enable the design of the controllers. The model parameters are from a real quadrotor that was built to validate the mathematical model and the efficiency of the designed controllers. The prototype was designed to have sufficient flight autonomy to carry out the tests, mechanical resistance to all conditions that can be exposed during the flight, such as wind and vibrations, and be controllable. In order to validate the efficiency of the developed controllers, simulations and tests were applied to the prototype attached to a gyroscopic test structure. To perform the simulations, the plant to be controlled was the model previously obtained. Nevertheless, the experimental tests applied to the prototype, on the other hand, suffered non modelled phenomena such as inertia coupling of the test structure and nonlinearities. The results showed that all the designed controllers are capable of stabilizing the flight of the quadrotor. |
publishDate |
2021 |
dc.date.none.fl_str_mv |
2021-01-01 2022-05-01T03:42:50Z 2022-05-01T03:42:50Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/conferenceObject |
format |
conferenceObject |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://dx.doi.org/10.1007/978-3-030-60694-7_16 Mechanisms and Machine Science, v. 95, p. 245-265. 2211-0992 2211-0984 http://hdl.handle.net/11449/233107 10.1007/978-3-030-60694-7_16 2-s2.0-85102184351 |
url |
http://dx.doi.org/10.1007/978-3-030-60694-7_16 http://hdl.handle.net/11449/233107 |
identifier_str_mv |
Mechanisms and Machine Science, v. 95, p. 245-265. 2211-0992 2211-0984 10.1007/978-3-030-60694-7_16 2-s2.0-85102184351 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
Mechanisms and Machine Science |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
245-265 |
dc.source.none.fl_str_mv |
Scopus reponame:Repositório Institucional da UNESP instname:Universidade Estadual Paulista (UNESP) instacron:UNESP |
instname_str |
Universidade Estadual Paulista (UNESP) |
instacron_str |
UNESP |
institution |
UNESP |
reponame_str |
Repositório Institucional da UNESP |
collection |
Repositório Institucional da UNESP |
repository.name.fl_str_mv |
Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP) |
repository.mail.fl_str_mv |
|
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1808129050011500544 |