DYNAMIC MODELING AND CONTROL OF A QUADROTOR USING NONLINEAR APPROACHES BASED ON MEMS SENSORS’ EXPERIMENTAL DATA

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DAVOODI EHSAN; MAZARE MAHMOOD; SAFARPOUR PEDRAM

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

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Paper Information

Journal: Modares Mechanical Engineering Year:2017 | Volume:16 | Issue:10 Page(s): 31-41

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Information Journal Paper

Title

DYNAMIC MODELING AND CONTROL OF A QUADROTOR USING NONLINEAR APPROACHES BASED ON MEMS SENSORS’ EXPERIMENTAL DATA

Author(s)

DAVOODI EHSAN | MAZARE MAHMOOD | SAFARPOUR PEDRAM | Issue Writer Certificate

Keywords

QUADROTORQ1

MEMS SENSORQ2

NONLINEAR CONTROLQ2

KALMAN FILTERQ2

Abstract

This paper presents the control of a QUADROTOR using nonlinear approaches based on the experimentally measured sensors data. The main goal is the control and closed loop simulation of a QUADROTOR using feedback linearization and sliding mode algorithms. First, a nonlinear model of QUADROTOR is derived using Newton-Euler equations. To have a more realistic simulation the sensors noise performance was measured using a setup. Sensors data was measured under running motors. Since the experimental data for sensor had error and noise, KALMAN FILTER was used to reduce noise effect. Results demonstrate good performance for KALMAN FILTER and controllers. Results showed that feedback linearization and sliding mode controllers performance were good but angles changes were smoother on feedback linearization controller. With increasing uncertainty, feedback linearization performance was far from desired mode.The time to reach the preferred objective while increasing uncertainty had no significant impact on the performance of sliding mode controller. Thus feedback linearization controller added to PID is appropriate to maintain the QUADROTOR attitude while sliding mode controller has better performance to angle change and transient situations.

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APA: Copy

DAVOODI, EHSAN, MAZARE, MAHMOOD, & SAFARPOUR, PEDRAM. (2017). DYNAMIC MODELING AND CONTROL OF A QUADROTOR USING NONLINEAR APPROACHES BASED ON MEMS SENSORS’ EXPERIMENTAL DATA. MODARES MECHANICAL ENGINEERING, 16(10 ), 31-41. SID. https://sid.ir/paper/178249/en

Vancouver: Copy

DAVOODI EHSAN, MAZARE MAHMOOD, SAFARPOUR PEDRAM. DYNAMIC MODELING AND CONTROL OF A QUADROTOR USING NONLINEAR APPROACHES BASED ON MEMS SENSORS’ EXPERIMENTAL DATA. MODARES MECHANICAL ENGINEERING[Internet]. 2017;16(10 ):31-41. Available from: https://sid.ir/paper/178249/en

IEEE: Copy

EHSAN DAVOODI, MAHMOOD MAZARE, and PEDRAM SAFARPOUR, “DYNAMIC MODELING AND CONTROL OF A QUADROTOR USING NONLINEAR APPROACHES BASED ON MEMS SENSORS’ EXPERIMENTAL DATA,” MODARES MECHANICAL ENGINEERING, vol. 16, no. 10 , pp. 31–41, 2017, [Online]. Available: https://sid.ir/paper/178249/en

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