The parrot UAV controlled by PID controllers

• Autorzy: Koszewnik A.
• Języki publikacji: EN

Abstrakty

EN

The paper presents the process of modeling and designing control laws for four-rotor type of the Parrot UAV. The state space model is obtained by using several phenomena like gyroscopic effects for rigid bodies, propellers and rotors. The obtained model has been used to design PID control laws for roll, pitch, yaw angle and altitude, respectively. The numerical simulations of the closed loop model are shown that system in satisfy way stabilize flight of the quadro-rotor in all considered directions.

Słowa kluczowe

EN

PID control; parrot; quadro-rotor; modeling

PL

regulacja PID; modelowanie; UAV

• Wydawca: Oficyna Wydawnicza Politechniki Białostockiej
• Czasopismo: Acta Mechanica et Automatica
• Rocznik: 2014
• Tom: Vol. 8, no. 2
• Strony: 65--69
• Opis fizyczny: Bibliogr. 10 poz., rys., tab., wykr.

Twórcy

autor

Koszewnik A.

• Faculty of Mechanical Engineering, Department of Automatic Control and Robotics, Bialystok University of Technology, ul. Wiejska 45C, 15-131 Bialystok, Poland

Bibliografia

• 1. Ambroziak L., Gosiewski Z., Ołdziej D. (2012), Modeling four rotors Helicopter, Chapter in monogrpaphy: Elements of autonomous flight of UAV, Białystok University of Technology (in Polish).
• 2. Astrom K. (2002), Control System Design, Chapter PID control, http://www.cds.caltech.edu/~murray/courses/cds101/fa02/caltech/ast rom-ch6.pdf (20.02.2014).
• 3. Bouabdalth S., Noth A. (2004), PID vs LQ Control Techniques Applied to Indoor Micro Quadrotor, IROS.
• 4. Clavel R. Siegwert R, Corke P. (2007), Design and Control Quadrotors with Application to Autonomous Flying, Monography with Ecole Politechnique Federale de Laussane.
• 5. De Silva D. (2012), Formation Control for Unmanned Aerial Vehicles, https://fenix.tecnico.ulisboa.pt/downloadFile/395144217739/Resumo_ Alargado.pdf (20.02.2014).
• 6. Derafa L., Madani T., Benalleque A. (2006), Dynamic Modeling and Experimental Identification of Four Rotors Helicopter Parameters, IEEE International Conference on Industrial Technology, pp.265-272.
• 7. Derafa L., Madani T., Ouladi A., Benallegue A. (2007), Four Rotors Helicopter Yaw Altitude Stabilization, Proceedings of the World Con-gress on Engineering, Vol. I, pp.104-110
• 8. Kimon P. (2007), Advances in Unmanned Aerial Vehicle. State of the Art and Road to Autonomy, Publisher: Springer
• 9. McKerrow P. (2004), Modeling the Dragonflyer Four-Rotor Helicop-ter, International Conference on Robotics & Automation, pp.3596- 3601.
• 10. Parrot Ar Drone, Developer Guide SDK 1.7.