TY - GEN
T1 - Simulation of Nonlinear Proportional Integral Derivative Controller for a Nonlinear Model of a HexSoon EDU 450 Quadrotor Aerial Robot
AU - Suresh Kumar, Suraj
AU - Indiran, Thirunavukkarasu
AU - Vadakkekara Itty, George
AU - Gupta, Chirag
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - This paper is written in conjunction with the research for developing the control schemes for a model of quadrotor unmanned aerial vehicle based on actual hardware. The primary aim is to reflect the outcomes of designing nonlinear control algorithms for in-situ hardware equipment where the physical parameters have been determined through direct measurement and estimation. A comprehensive study of the trajectory tracking and control capabilities of Non-linear Proportional Integral Derivative control on a derived non-linear model of the quadrotor system is presented. The system mathematical model is obtained with the help of the nonlinear dynamics of the quadcopter which is derived with the help of Newton-Euler formulations. Thus, the model obtained includes the aerodynamic effects and the rotor dynamics of the quadrotor. Simulations were used for evaluating and comparing the performances of the two control techniques developed between their dynamic performances and stability.
AB - This paper is written in conjunction with the research for developing the control schemes for a model of quadrotor unmanned aerial vehicle based on actual hardware. The primary aim is to reflect the outcomes of designing nonlinear control algorithms for in-situ hardware equipment where the physical parameters have been determined through direct measurement and estimation. A comprehensive study of the trajectory tracking and control capabilities of Non-linear Proportional Integral Derivative control on a derived non-linear model of the quadrotor system is presented. The system mathematical model is obtained with the help of the nonlinear dynamics of the quadcopter which is derived with the help of Newton-Euler formulations. Thus, the model obtained includes the aerodynamic effects and the rotor dynamics of the quadrotor. Simulations were used for evaluating and comparing the performances of the two control techniques developed between their dynamic performances and stability.
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U2 - 10.1109/ICICICT54557.2022.9917674
DO - 10.1109/ICICICT54557.2022.9917674
M3 - Conference contribution
AN - SCOPUS:85141384005
T3 - Proceedings of the 2022 3rd International Conference on Intelligent Computing, Instrumentation and Control Technologies: Computational Intelligence for Smart Systems, ICICICT 2022
SP - 1724
EP - 1728
BT - Proceedings of the 2022 3rd International Conference on Intelligent Computing, Instrumentation and Control Technologies
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd International Conference on Intelligent Computing, Instrumentation and Control Technologies, ICICICT 2022
Y2 - 11 August 2022 through 12 August 2022
ER -