Quadcopter System Modeling and Autopilot Synthesis

Quadcopter System Modeling and Autopilot Synthesis
Authors : Shady. A. Kader, Prof. Dr. Adel-ezzat El-henawy, Dr. Oda, A. N
Publication Date: 01-11-2014


Author(s):  Shady. A. Kader, Prof. Dr. Adel-ezzat El-henawy, Dr. Oda, A. N

Published in:   International Journal of Engineering Research & Technology

License:  This work is licensed under a Creative Commons Attribution 4.0 International License.

Website: www.ijert.org

Volume/Issue:   Vol. 3 - Issue 11 (November - 2014)

e-ISSN:   2278-0181


The developments in applied mathematics and computational capabilities facilitate the design and implementation of control. In addition, huge developments in nanotechnology and its availability attract many of the researchers towards embedded systems especially the embedded flight control. Among the real applications are the unmanned air vehicles (UAV), which is the state of art in the last few years especially the four rotors vertical take-off and landing (VTOL) aircraft known as the quadcopter, due to their maneuverability, ease of design and control. Although it remains a complete nonlinear system, this paper manipulate with mathematical representation of the quadcopter and modelling of the intended system. A linearization of the obtained mathematical model has been achieved via algebraic manipulation, the next objective for this paper is the autopilot design using with justification against previous work concerning the performance requirements of time responses and flight path characteristics. So a PID controller has been designed. Also, a FUZZY logic controller has been established, the evaluation of the obtained controllers and the original one with the nonlinear system has been achieved. The evaluation results reveals that the designed PID controller has the best performance and less control effort compared to the original and designed fuzzy controller.


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