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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
Citations are not available for this document.

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].

Cites in Papers - |

Cites in Papers - IEEE (7)

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1.
Arash Raeisi, Pouria Aghanasiri, Hamed Etezadi, Payam Zarafshan, Mohammad Dehghani, "Design and Analysis of a Fiber Laser Flying Robot for Cleaning Power Line Insulators", 2023 11th RSI International Conference on Robotics and Mechatronics (ICRoM), pp.402-407, 2023.
2.
Mohamad Alansari, Ahmed Elshamy, Ahmed Abughali, Khalid Alhammadi, "Controller Design and Analysis for Octorotor UAVs", 2022 International Conference on Electrical and Computing Technologies and Applications (ICECTA), pp.103-108, 2022.
3.
Mozhdeh Mazinani, Payam Zarafshan, Mohammad Dehghani, Hamed Etezadi, Kourosh Vahdati, Gholamreza Chegini, "Modeling and Control of a Pollinator Flying Robot", 2021 9th RSI International Conference on Robotics and Mechatronics (ICRoM), pp.548-553, 2021.
4.
Mozhdeh Mazinani, Mohammad Dehghani, Payam Zarafshan, Hamed Etezadi, Kourosh Vahdati, Gholamreza Chegini, "Design and Manufacture of an Aerial Pollinator Robot for Walnut Trees", 2021 9th RSI International Conference on Robotics and Mechatronics (ICRoM), pp.445-450, 2021.
5.
Hamid Maqsood, Yaohong Qu, Muhammad Taimoor, Bing Yang, "Robust Control Design with Novel Extended Disturbance Observer for Quadrotor Vehicle", 2020 Chinese Control And Decision Conference (CCDC), pp.2715-2720, 2020.
6.
Rashid Ali, Yunfeng Peng, M. Touseef Iqbal, Rooh Ul Amin, Omer Zahid, Omair Irfan Khan, "Adaptive Backstepping Sliding Mode Control of Coaxial Octorotor Unmanned Aerial Vehicle", IEEE Access, vol.7, pp.27526-27534, 2019.
7.
Mohsen Rahmati, Mohammad Reza Arvan, Babak N. Araabi, "State estimation of VTOL octorotor for altitude control by using hybrid extended Kalman filter", 2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA), pp.189-194, 2017.

Cites in Papers - Other Publishers (2)

1.
S. Jamal Haddadi, P. Zarafshan, M. Dehghani, "A coaxial quadrotor flying robot: Design, analysis and control implementation", Aerospace Science and Technology, vol.120, pp.107260, 2022.
2.
Chenxing Li, Xin Huo, Qingquan Liu, "A New Robust Command Shaping Method and Its Application in Quadrotor Slung System with Varying Parameters", IFAC-PapersOnLine, vol.53, no.2, pp.5737, 2020.
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References

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