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Modeling, control and navigation of a quadrotor
International Islamic University Malaysia
Over the recent years, UAVs have been used more commonly than prior years. As the technology related to aviation becomes more advanced and more accessible to the public, this area of research has attracted many engineers and researchers to design and carry out quadcopters for different missions and this era is not explored thoroughly. Therefore, there is a high demand for developing a reliable, non-costly and feasible solution for the modeling, control and navigation systems of quadrotor. The significance of this study lies in evaluating the utilization and reliability of quadrotors in civil missions such as search and rescue missions and agriculture applications or military-like surveillance. In order to control or analyze the system, a dynamic model must be considered. Firstly, full review on the Aerial vehicle will be done, which consists of the derivation of the mathematical model of the quadrotor, then designing a suitable control system algorithm taking into account the dynamic system properties. In this thesis, a proportional-integral-derivative controller (PID) based feedback control system is developed and implemented on MATLAB's Simulink. The PID controller helps in tracking any given trajectory. We tune the PID parameters using the Integral of Time multiplied by Absolute Error (ITAE) criterion. The proposed techniques are validated with the help of numerous simulations which demonstrate that the quadrotor was able to navigate to any desired way-point location and to follow any desired trajectory with tracking error less than 0.001 m. This model shows significant results for small roll and pitch angles and low velocities less than 3 m/s. Finally, the report concludes with suggestions for future work in order to enhance the trajectory tracking and path following.
Thesis (MSME)--International Islamic University Malaysia, 2017.
Includes bibliographical references (leaves 49-53).