A Mathematical Model for Controlling a Quadrotor UAV-Reference-Cited by-同舟云学术

A Mathematical Model for Controlling a Quadrotor UAV

Published:2021-09-01 Issue:3 Volume:2021 Page:58-70
ISSN:2545-2835
Container-title:Transactions on Aerospace Research
language:en
Short-container-title:

Author:

Kowalik Rafał¹^ORCID,Łusiak Tomasz²^ORCID,Novak Andrej³^ORCID

Affiliation:

1. Military University of Aviation , ul. Dywizjonu 303 no. 35 08-521 Dęblin , Poland

2. Lublin University of Technology , ul. Nadbystrzycka 38 D, 20-618 Lublin , Poland

3. University of Žilina , Univerzitná 8215/1, 010 26 Žilina , Slovakia

Abstract

Abstract Given the recent surge in interest in UAVs and their potential applications, a great deal of work has lately been done in the field of UAV control. However, UAVs belong to a class of nonlinear systems that are inherently difficult to control. In this study we devised a mathematical model for a PID (proportional integral derivative) control system, designed to control a quadrotor UAV so that it follows a predefined trajectory. After first describing quadrotor flight dynamics, we present the control model adopted in our system (developed in MATLAB Simulink). We then present simulated results for the use of the control system to move a quadrotor UAV to desired locations and along desired trajectories. Positive results of these simulation support the conclusion that a quadrotor UAV spatial orientation control system based on this model will successfully fulfil its task also in real conditions.

Publisher

Walter de Gruyter GmbH

Link

https://www.sciendo.com/pdf/10.2478/tar-2021-0017

Reference17 articles.

1. [1] Allen, M. and Lin, V., 2007, Guidance and Control of an Autonomous Soaring UAV, NASA/TM-2007-214611.

2. [2] Choi, H.S., Lee, S., Lee, J., Kim, E.T., and Shim, H., 2010, “Aircraft Longitudinal Auto-landing Guidance Law Using Time Delay Control Scheme,” Transactions of the Japan Society for Aeronautical and Space Sciences, 53(181), pp. 207-214. doi: 10.2322/tjsass.53.207.

3. [3] Choi, H.S., Lee, S., Ryu, H., Shim, H. Ha, C., 2015, “Dynamics and Simulation of the Effects of Wind on UAVs and Airborne Wind Measurement,” Transactions of the Japan Society for Aeronautical and Space Sciences, 58(4), pp. 187-192. doi: 10.2322/tjsass.58.187.

4. [4] Hwang, S., Kim, S., Kim, C., Lee, and Y.G., 2016, “Aerodynamic Design of the Solar-Powered High Altitude Long Endurance (HALE) Unmanned Aerial Vehicle,” International Journal of Aeronautical and Space Sciences, 17(1), pp. 132-138. doi: 10.5139/IJASS.2016.17.1.132.

5. [5] Langelaan, J.W., Alley, N., and Neidhoefer, J., 2010, “Wind Field Estimation for Small Unmanned Aerial Vehicles,” AIAA Guidance, Navigation and Control Conference.

Cited by 2 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. The Multicriteria Analysis Efficiency Method of Group Monitoring System Based on Unmanned Aerial Vehicles;2023 Applied Mathematics, Computational Science and Mechanics: Current Problems (AMCSM);2023-07-01

2. Developing the Framework of Drone Curriculum to Educate the Drone Beginners in the Korean Construction Industry;Drones;2023-05-28