Modeling and Control of a Quadrotor UAV with Aerodynamic Concepts

This paper presents preliminary results on modeling and control of a quadrotor UAV. With aerodynamic concepts, a mathematical model is firstly proposed to describe the dynamics of the quadrotor UAV. Parameters of this model are identified by experiments with Matlab Identify Toolbox. A group of PID controllers are then designed based on the developed model. To verify the developed model and controllers, simulations and experiments for altitude control, position control and trajectory tracking are carried out. The results show that the quadrotor UAV well follows the referenced commands, which clearly demonstrates the effectiveness of the proposed approach.

Authors:

• Wei Dong
• Guo-Ying Gu
• Xiangyang Zhu
• Han Ding

Keywords:

• Quadrotor UAV
• Modeling
• Control
• Aerodynamics
• System Identification.

References:

[1] V. Kumar and N. Michael, "Opportunities and challenges with autonomous
micro aerial vehicles," in Int. Symp. on Robotics Research,
2011.
[2] D. Mellinger, M. Shomin, and V. Kumar, "Control of quadrotors for
robust perching and landing," in International Powered Lift Conference,
October 5-7, 2010, 2010.
[3] S. Bouabdallah and R. Siegwart, "Full control of a quadrotor," in Intelligent
Robots and Systems, 2007. IROS 2007. IEEE/RSJ International
Conference on. Ieee, 2007, pp. 153-158.
[4] S. Bouabdallah, R. Siegwart, S. Bouabdallah, and R. Siegwart, "Backstepping
and sliding-mode techniques applied to an indoor micro quadrotor,"
in Robotics and Automation, 2005. ICRA 2005. Proceedings of the
2005 IEEE International Conference on. Ieee, 2005, pp. 2247-2252.
[5] S. Bouabdallah, "Design and control of quadrotors with application to
autonomous flying," Lausanne Polytechnic University, 2007.
[6] P. Pounds, R. Mahony, and P. Corke, "Modelling and control of a quadrotor
robot," in Proceedings Australasian Conference on Robotics and
Automation 2006. Australian Robotics and Automation Association
Inc., 2006.
[7] N. Michael, D. Mellinger, Q. Lindsey, and V. Kumar, "The grasp
multiple micro-uav testbed," Robotics & Automation Magazine, IEEE,
vol. 17, no. 3, pp. 56-65, 2010.
[8] Q. Lindsey, D. Mellinger, and V. Kumar, "Construction of cubic structures
with quadrotor teams," Proc. Robotics: Science & Systems VII,
2011.
[9] R. Mahony, V. Kumar, and P. Corke, "Multirotor aerial vehicles:
Modeling, estimation, and control of quadrotor," Robotics & Automation
Magazine, IEEE, vol. 19, pp. 20 - 32, 2012.
[10] T. Tomic, K. Schmid, P. Lutz, A. Domel, M. Kassecker, E. Mair, I. Grixa,
F. Ruess, M. Suppa, and D. Burschka, "Toward a fully autonomous uav:
Research platform for indoor and outdoor urban search and rescue,"
Robotics & Automation Magazine, IEEE, vol. 19, pp. 57-68, 2012.
[11] K. Ogata and Y. Yang, Modern control engineering. Prentice Hall
Upper Saddle River, NJ, USA, 1990, vol. 4.
[12] S. Bouabdallah and R. Siegwart, "Design and control of a miniature
quadrotor," Advances in Unmanned Aerial Vehicles, pp. 171-210, 2007.
[13] J. Leishman, Principles of helicopter aerodynamics. Cambridge
University Press, 2006.
[14] A. Salih, M. Moghavvemi, H. Mohamed, and K. Gaeid, "Modelling
and pid controller design for a quadrotor unmanned air vehicle," in Automation
Quality and Testing Robotics (AQTR), 2010 IEEE International
Conference on, vol. 1. IEEE, 2010, pp. 1-5.
[15] R. Xu and U. Ozguner, "Sliding mode control of a quadrotor helicopter,"
in Decision and Control, 2006 45th IEEE Conference on. IEEE, 2006,
pp. 4957-4962.
[16] C. Fallaha, M. Saad, H. Kanaan, and K. Al-Haddad, "Sliding-mode robot
control with exponential reaching law," Industrial Electronics, IEEE
Transactions on, vol. 58, no. 2, pp. 600-610, 2011.