Dynamics modelling and implementation of an attitude control on an Octorotor | IEEE Conference Publication | IEEE Xplore

Dynamics modelling and implementation of an attitude control on an Octorotor


Abstract:

In this paper, an attitude controller is implemented and studied on an Octorotor flying robot. In this Unmanned Aerial Vehicle (UAV), motors number is extended to eight m...Show More

Abstract:

In this paper, an attitude controller is implemented and studied on an Octorotor flying robot. In this Unmanned Aerial Vehicle (UAV), motors number is extended to eight motors. Also, mechanical and electrical subsystems is designed and performed based on the considered Quadrotor. To this end, the robot stability is obtained using the stated controller. Then, this flying robot is tested under the flight condition on a test apparatus. For monitoring the Attitude angles of this UAV, a PID controller is utilized using Mission Planner software by USB port. Finally, Implementation and simulation results are compared for the designed attitude controller in MATLAB/Simulink.
Date of Conference: 03-06 May 2015
Date Added to IEEE Xplore: 25 June 2015
ISBN Information:
Print ISSN: 0840-7789
Conference Location: Halifax, NS, Canada
Department of Electrical, Qazvin Islamic Azad University, Qazvin, Iran
Department of Agro-Technology, University of Tehran, Pakdasht, Tehran, Iran
Department of Electrical, Qazvin Islamic Azad University, Qazvin, Iran

I. Introduction

Recently, Quadrotor is considered as a robotic system which has been studied in some researches, [1]–[4]. In 1907, Quadrotor has been introduced by Breguet-Richet (Gyroplane No.1). Also, it is reported that they have lifted into the fight, [5]. The control of a quadrotor is accomplished by independently regulating the speed of each rotor. This Design of system is particularly suitable for small UAVs, because it reduces of mechanical convolution of rotor and simplifies the control algorithms [6]. Actually, the Unmanned Aerial Vehicles (UAVs) are usually used for civilian and military applications such as, surveillance, patrolling for forest fires, traffic monitoring and rescue whereas the pilot risks are frequently high. Moreover, military applications are presently considered as the lion's part of the UAV market, and this industrial usage is strongly growing. Also, unmanned flying robot can be also profited in outdoor and indoor goals. In addition, they can work in dangerous situation which is hard to work for operators, [6]. To this end, these robots are lately increased the researcher and academician societies interest, and this robot is used for many applications. The research on aerial robotics can be also continued by the Quadrotors as a usual vehicle in some implementations such as nonlinear and linear controllers, [7]–[10], the software and hardware studying, [11]–[12], and Simultaneous Localization And Mapping (SLAM), [13]–[14].

Department of Electrical, Qazvin Islamic Azad University, Qazvin, Iran
Department of Agro-Technology, University of Tehran, Pakdasht, Tehran, Iran
Department of Electrical, Qazvin Islamic Azad University, Qazvin, Iran
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References

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