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

fYear

2015

fDate

3-6 May 2015

Firstpage

722

Lastpage

727

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Computer Engineering (CCECE), 2015 IEEE 28th Canadian Conference on

Conference_Location

Halifax, NS

ISSN

0840-7789

Print_ISBN

978-1-4799-5827-6

Type

conf

DOI

10.1109/CCECE.2015.7129364

Filename

7129364