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Contribution to the Control and Command of a Quadrirotor with Six Degrees of Freedom in an Urban Environment

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Document pages: 14 pages

Abstract: The objective of this article is to make a contribution relating to themodeling, control, simulation and stabilization of a complex system, with sixdegrees of freedom of a particular drone which presents many advantages andchallenges. On the technological, military, political and other levels with anenormous and beneficial social contribution, it is a quadrotor which is a nonlinear, stronglycoupled and unstable system. Such a structure is difficult to master, because the control ismultivariable in the sense that six degrees of freedom are to be controlledsimultaneously and operating in an environment subject to disturbances. Twocommands, in particular Backstepping and PID, will be applied to obtain thestabilization of the quadcopter at the desired values, in attitude and inaltitude. This article presents the comparative results of the performance ofthe quadcopter under the two controls. The effect of the parameters of eachcommand on the response time of the system is elucidated under theMatlab Simulink environment. For a simulation time of up to 10 seconds minimumwith a less good response time of almost 2 seconds for the PID control, these results prove therobustness of the Backstepping command.

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