Dynamic modeling, simulation and control of a quadrotor using feedback linearization and PID controller based on MEMS sensor's experimental dat
Author(s):
Abstract:
Dynamic modeling, simulation and control of a quadrotor using feedback linearization and PID controller based on MEMS sensors experimental dat
یÏå [English]
The purpose of this article is dynamic modeling of a quadrotor and control of its Roll and Pitch angles based on the experimentally measured sensors data. So, after driving nonlinear model of quadrotor equations, the control of the quadrotors angular situation was simulated using PID and feedback linearization algorithms. Due to the widespread application of MEMS sensors in measuring the status of various systems and to have a more realistic simulation, sensors data was measured and used in simulation of controllers. Due to errors of MEMS sensors, vibration of motors and airframe, being noise on outputs, Kalman filter was used for estimation of angular situation. As one of the purposes of this paper was the use of its results in actual control of a quadrotor, motor model was used to determine PWM control signals. The results obtained from simulation in Simulink showed good performance of both controllers in controlling roll and pitch angles
یÏå [English]
The purpose of this article is dynamic modeling of a quadrotor and control of its Roll and Pitch angles based on the experimentally measured sensors data. So, after driving nonlinear model of quadrotor equations, the control of the quadrotors angular situation was simulated using PID and feedback linearization algorithms. Due to the widespread application of MEMS sensors in measuring the status of various systems and to have a more realistic simulation, sensors data was measured and used in simulation of controllers. Due to errors of MEMS sensors, vibration of motors and airframe, being noise on outputs, Kalman filter was used for estimation of angular situation. As one of the purposes of this paper was the use of its results in actual control of a quadrotor, motor model was used to determine PWM control signals. The results obtained from simulation in Simulink showed good performance of both controllers in controlling roll and pitch angles
Keywords:
Language:
Persian
Published:
Modares Mechanical Engineering, Volume:16 Issue: 12, 2017
Pages:
175 to 185
magiran.com/p1644431
دانلود و مطالعه متن این مقاله با یکی از روشهای زیر امکان پذیر است:
اشتراک شخصی
با عضویت و پرداخت آنلاین حق اشتراک یکساله به مبلغ 1,390,000ريال میتوانید 70 عنوان مطلب دانلود کنید!
اشتراک سازمانی
به کتابخانه دانشگاه یا محل کار خود پیشنهاد کنید تا اشتراک سازمانی این پایگاه را برای دسترسی نامحدود همه کاربران به متن مطالب تهیه نمایند!
توجه!
- حق عضویت دریافتی صرف حمایت از نشریات عضو و نگهداری، تکمیل و توسعه مگیران میشود.
- پرداخت حق اشتراک و دانلود مقالات اجازه بازنشر آن در سایر رسانههای چاپی و دیجیتال را به کاربر نمیدهد.
In order to view content subscription is required
Personal subscription
Subscribe magiran.com for 70 € euros via PayPal and download 70 articles during a year.
Organization subscription
Please contact us to subscribe your university or library for unlimited access!