Title :
Dynamics modelling and implementation of an attitude control on an Octorotor
Author :
Haddadi, S. Jamal ; Zarafshan, Payam ; Niroumand, Farahnaz J.
Author_Institution :
Dept. of Electr., Comput. & IT Eng., Qazvin Islamic Azad Univ., Qazvin, Iran
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.
Keywords :
attitude control; autonomous aerial vehicles; control system synthesis; helicopters; robot dynamics; stability; three-term control; Matlab/Simulink software; Mission Planner software; PID controller; UAV; USB port; attitude angle monitoring; attitude control implementation; dynamics modelling; electrical subsystem design; flight condition; mechanical subsystem design; octorotor flying robot; robot stability; test apparatus; unmanned aerial vehicle; Attitude control; Control systems; Hardware; Mathematical model; Propellers; Robots; Rotors; Attitude Control; Octorotor; PID Controller; Stabilization;
Conference_Titel :
Electrical and Computer Engineering (CCECE), 2015 IEEE 28th Canadian Conference on
Conference_Location :
Halifax, NS
Print_ISBN :
978-1-4799-5827-6
DOI :
10.1109/CCECE.2015.7129364
