Dynamic Modeling and Control Techniques for a Quadrotor

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Author(s): Heba Elkholy (American University in Cairo, Egypt)and Maki K. Habib (The American University in Cairo, Egypt)
Copyright: 2019
Pages: 47
Source title: Unmanned Aerial Vehicles: Breakthroughs in Research and Practice
Source Author(s)/Editor(s): Information Resources Management Association (USA)
DOI: 10.4018/978-1-5225-8365-3.ch002

Keywords: Aviation Engineering / Engineering Science Reference / Science & Engineering

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Abstract

This chapter presents the detailed dynamic model of a Vertical Take-Off and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) known as the quadrotor. The mathematical model is derived based on Newton Euler formalism. This is followed by the development of a simulation environment on which the developed model is verified. Four control algorithms are developed to control the quadrotor's degrees of freedom: a linear PID controller, Gain Scheduling-based PID controller, nonlinear Sliding Mode, and Backstepping controllers. The performances of these controllers are compared through the developed simulation environment in terms of their dynamic performance, stability, and the effect of possible disturbances.

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