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Paper Information

Journal:   MODARES MECHANICAL ENGINEERING   JANUARY 2017 , Volume 16 , Number 10 ; Page(s) 31 To 41.
 
Paper: 

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

 
 
Author(s):  DAVOODI EHSAN, MAZARE MAHMOOD, SAFARPOUR PEDRAM*
 
* DEPARTMENT OF MECHANICAL ENGINEERING, SHAHID BEHESHTI UNIVERSITY, TEHRAN, IRAN
 
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.

 
Keyword(s): QUADROTOR, MEMS SENSOR, NONLINEAR CONTROL, KALMAN FILTER
 
 
References: 
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Click to Cite.
APA: Copy

DAVOODI, E., & MAZARE, M., & SAFARPOUR, P. (2017). DYNAMIC MODELING AND CONTROL OF A QUADROTOR USING NONLINEAR APPROACHES BASED ON MEMS SENSORS’ EXPERIMENTAL DATA. MODARES MECHANICAL ENGINEERING, 16(10 ), 31-41. https://www.sid.ir/en/journal/ViewPaper.aspx?id=570988



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. 2017 [cited 2021May13];16(10 ):31-41. Available from: https://www.sid.ir/en/journal/ViewPaper.aspx?id=570988



IEEE: Copy

DAVOODI, E., MAZARE, M., SAFARPOUR, P., 2017. DYNAMIC MODELING AND CONTROL OF A QUADROTOR USING NONLINEAR APPROACHES BASED ON MEMS SENSORS’ EXPERIMENTAL DATA. MODARES MECHANICAL ENGINEERING, [online] 16(10 ), pp.31-41. Available: https://www.sid.ir/en/journal/ViewPaper.aspx?id=570988.



 
 
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