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Article
Publication date: 12 January 2024

Gowtham G. and Jagan Raj R.

The purpose of this study is to find the suitable trajectory path of the Numerical model of the Quadcopter. Quadcopters are widely used in various applications due to their…

Abstract

Purpose

The purpose of this study is to find the suitable trajectory path of the Numerical model of the Quadcopter. Quadcopters are widely used in various applications due to their compact size and ease of assembly. Because they are quite unstable, autonomous control systems would be used to overcome this problem. Modelling autonomous control is predominant as the research scope faces challenges because of its highly non-linear, multivariable system with 6 degree of freedom.

Design/methodology/approach

Quadcopters with antonym systems can operate in an unknown environment by overcoming unexpected disturbances. The first objective when designing such a system is to design an accurate mathematical model to describe the dynamics of the system. Newton’s law of motion was used to build the mathematical model of the system.

Findings

Establishment of the mathematical model and the physics behind a four propeller drone for the frame TAROT 650 carbon was done. Simulink model was developed based on the mathematical model for simulating the complete dynamics of the drone as well as location and gusts were included to check the stability.

Originality/value

The control response of the system was simulated numerically results are discussed. The trajectory path was found. The phases with their own parameters can be used to implement the mathematical model for another type of quadcopter model and achieve quick development.

Details

Aircraft Engineering and Aerospace Technology, vol. 96 no. 2
Type: Research Article
ISSN: 1748-8842

Keywords

Article
Publication date: 18 April 2016

Deepak B B V L and Pritpal Singh

In the previous decade, unmanned aerial vehicles (UAVs) have turned into a subject of enthusiasm for some exploration associations. UAVs are discovering applications in different…

1885

Abstract

Purpose

In the previous decade, unmanned aerial vehicles (UAVs) have turned into a subject of enthusiasm for some exploration associations. UAVs are discovering applications in different regions going from military applications to activity reconnaissance. The purpose of this paper is to overview a particular sort of UAV called quadrotor or quadcopter.

Design/methodology/approach

This paper includes the dynamic models of a quadrotor and the distinctive model-reliant and model-autonomous control systems and their correlation.

Findings

In the present time, focus has moved to outlining autonomous quadrotors. Ultimately, the paper examines the potential applications of quadrotors and their part in multi-operators frameworks.

Originality/value

This investigation deals with the review on various quadrotors, their applications and motion control strategies.

Details

International Journal of Intelligent Unmanned Systems, vol. 4 no. 2
Type: Research Article
ISSN: 2049-6427

Keywords

Article
Publication date: 2 December 2022

Zhiqiang Zheng, Haibin Duan and Yimin Deng

The purpose of this paper is to propose a novel maximum power point track (MPPT) controller for a type of solar quad-copter to solve the problem of tracking the maximum power…

Abstract

Purpose

The purpose of this paper is to propose a novel maximum power point track (MPPT) controller for a type of solar quad-copter to solve the problem of tracking the maximum power point (MPP) when it works in nonuniform environment conditions.

Design/methodology/approach

The influence of uniform and nonuniform illumination and different temperatures results in the output characteristics of the solar array arising multiple local MPPs. To track the global MPP of the solar array on the designed solar quadcopter, a type of MPPT controller based on an improved pigeon-inspired optimization (PIO) algorithm is proposed.

Findings

A novel type of MPPT controller based on extended search PIO (ESPIO) algorithm, called ESPIO–MPPT controller, is introduced emphatically, which is used to extend the solar quadcopter’s flight time. The simulation experiments show that the ESPIO–MPPT controller can find the global MPP (GMPP) with smaller amplitudes of oscillation and less time cost.

Practical implications

The proposed solar quadcopter with ESPIO–MPPT controller has satisfactory flight performance which can greatly broaden its mission scope.

Originality/value

A type of efficient MPPT algorithm based on ESPIO is proposed for GMPP tracking of solar quadcopters in nonuniform environment conditions.

Details

Aircraft Engineering and Aerospace Technology, vol. 95 no. 5
Type: Research Article
ISSN: 1748-8842

Keywords

Article
Publication date: 2 October 2018

Víctor H. Andaluz, Cristian M. Gallardo, Fernando A. Chicaiza, Christian P. Carvajal, José Morales, Giovanny Cuzco, Vicente Morales, Byron E. Vaca and Nicolay Samaniego

This paper aims to present a unified motion control scheme for quadcopters which not only solves the point stabilization and trajectory tracking problems but also the path…

Abstract

Purpose

This paper aims to present a unified motion control scheme for quadcopters which not only solves the point stabilization and trajectory tracking problems but also the path following problem.

Design/methodology/approach

The control problem is solved based on the kinematic model of the unmanned aerial vehicles (UAV). Next, a dynamic compensation controller is considered through of a quadcopter-inner-loop system to independently track four velocity commands: forward, lateral, up/downward and heading rate. Stability and robustness of the whole control system are proved through the Lyapunov’s method. To evaluate the controller’s performance, a multi-user application which allows bilateral communication between a ground station and the Phantom 3 PRO quadrotor is developed.

Findings

The performance of the proposed unified controller is shown through real experiments for the different motion control objectives: point stabilization, trajectory tracking and path following. The experiments confirm the capability of the unified controller to solve different motion problems by an adequate selection of the control references.

Originality/value

This work proposes the design of three types of motion controllers, which can be switched to comply a task in outdoor. Based on the software development kit provided by the company DJI, an application to get and send data to the UAV is developed. By means of this application, the three tasks are tested and the robustness of the controllers is proved.

Details

Assembly Automation, vol. 38 no. 5
Type: Research Article
ISSN: 0144-5154

Keywords

Article
Publication date: 4 December 2017

Halim Merabti and Khaled Belarbi

Rapid solution methods are still a challenge for difficult optimization problems among them those arising in nonlinear model predictive control. The particle swarm optimization…

Abstract

Purpose

Rapid solution methods are still a challenge for difficult optimization problems among them those arising in nonlinear model predictive control. The particle swarm optimization algorithm has shown its potential for the solution of some problems with an acceptable computation time. In this paper, we use an accelerated version of PSO for the solution of simple and multiobjective nonlinear MBPC for unmanned vehicles (mobile robots and quadcopter) for tracking trajectories and obstacle avoidance. The AµPSO-NMPC was applied to control a LEGO mobile robot for the tracking of a trajectory without and with obstacles avoidance one.

Design/methodology/approach

The accelerated PSO and the NMPC are used to control unmanned vehicles for tracking trajectories and obstacle avoidance.

Findings

The results of the experiments are very promising and show that AµPSO can be considered as an alternative to the classical solution methods.

Originality/value

The computation time is less than 0.02 ms using an Intel Core i7 with 8GB of RAM.

Details

World Journal of Engineering, vol. 14 no. 6
Type: Research Article
ISSN: 1708-5284

Keywords

Article
Publication date: 2 May 2017

Ahmet Ermeydan and Emre Kiyak

The purpose of this paper is to present fault tolerant control of a quadrotor based on the enhanced proportional integral derivative (PID) structure in the presence of one or more…

Abstract

Purpose

The purpose of this paper is to present fault tolerant control of a quadrotor based on the enhanced proportional integral derivative (PID) structure in the presence of one or more actuator faults.

Design/methodology/approach

Mathematical model of the quadrotor is derived by parameter identification of the system for the simulation of the UAV dynamics and flight control in MATLAB/Simulink. An improved PID structure is used to provide the stability of the nonlinear quadcopter system both for attitude and path control of the system. The results of the healty system and the faulty system are given in simulations, together with motor dynamics.

Findings

In this study, actuator faults are considered to show that a robust controller design handles the loss of effectiveness in motors up to some extent. For the loss of control effectiveness of 20 per cent in first and third motors, psi state follows the reference with steady state error, and it does not go unstable. Motor 1 and Motor 3 respond to given motor fault quickly. When it comes to one actuator fault, steady state errors remain in some states, but the system does not become unstable.

Originality/value

In this paper, an enhanced PID controller is proposed to keep the quadrotor stable in case of actuator faults. Proposed method demonstrates the effectiveness of the control system against motor faults.

Details

Aircraft Engineering and Aerospace Technology, vol. 89 no. 3
Type: Research Article
ISSN: 1748-8842

Keywords

Article
Publication date: 29 April 2021

Ayaz Ahmed Hoshu, Liuping Wang, Alex Fisher and Abdul Sattar

Despite of the numerous characteristics of the multirotor unmanned aircraft systems (UASs), they have been termed as less energy-efficient compared to fixed-wing and helicopter…

Abstract

Purpose

Despite of the numerous characteristics of the multirotor unmanned aircraft systems (UASs), they have been termed as less energy-efficient compared to fixed-wing and helicopter counterparts. The purpose of this paper is to explore a more efficient multirotor configuration and to provide the robust and stable control system for it.

Design/methodology/approach

A heterogeneous multirotor configuration is explored in this paper, which employs a large rotor at the centre to provide majority of lift and three small tilted booms rotors to provide the control. Design provides the combined characteristics of both quadcopters and helicopters in a single UAS configuration, providing endurance of helicopters keeping the manoeuvrability, simplicity and control of quadcopters. In this paper, rotational as well as translational dynamics of the multirotor are explored. Cascade control system is designed to provide an effective solution to control the attitude, altitude and position of the rotorcraft.

Findings

One of the challenging tasks towards successful flight of such a configuration is to design a stable and robust control system as it is an underactuated system possessing complex non-linearities and coupled dynamics. Cascaded proportional integral (PI) control approach has provided an efficient solution with stable control performance. A novel motor control loop is implemented to ensure enhanced disturbance rejection, which is also validated through Dryden turbulence model and 1-cosine gust model.

Originality/value

Robustness and stability of the proposed control structure for such a dynamically complex UAS configuration is demonstrated with stable attitude and position performance, reference tracking and enhanced disturbance rejection.

Details

International Journal of Intelligent Unmanned Systems, vol. 10 no. 4
Type: Research Article
ISSN: 2049-6427

Keywords

Article
Publication date: 22 September 2023

Oguz Kose, Tugrul Oktay and Enes Özen

The purpose of this paper is to obtain values that stabilize the lateral and longitudinal flight of the quadrotor for which the morphing amount and the best…

Abstract

Purpose

The purpose of this paper is to obtain values that stabilize the lateral and longitudinal flight of the quadrotor for which the morphing amount and the best Proportional-Integral-Derivative (PID) coefficients are determined by using the simultaneous perturbation stochastic approximation (SPSA) optimization algorithm.

Design/methodology/approach

Quadrotor consists of body and arms; there are propellers at the ends of the arms to take off and rotors that rotate them. By reducing the angle between mechanism 1 and the rotors with the horizontal plane, the angle between mechanism 2 and the arms, the rotors rise and different configurations are obtained. Conventional multi-rotor aircraft has a fixed fuselage and does not need a tail rotor to change course as helicopters do. The translational and rotational movements are provided by the rotation of the rotors of the aircraft at different speeds by creating moments about the geometric center in 6-degree-of-freedom (DOF) space. These commands sent from the ground are provided by the flight control board in the aircraft. The longitudinal and lateral flight stability and properties of different configurations evaluated by dynamic analysis and simulations in 6 DOF spaces are investigated. An algorithm and PID controller are being developed using SPSA to achieve in-flight position and attitude control of an active deformable aircraft. The results are compared with the results of the literature review and the results of the previous article.

Findings

With SPSA, the best PID coefficients were obtained in case of morphing.

Research limitations/implications

The effects of quadrotor arm height and hub angle changes affect flight stability. With the SPSA optimization method presented in this study, the attitude is quickly stabilized.

Practical implications

With the optimization method, the most suitable PID coefficients and angle values for the lateral and longitudinal flight stability of the quadrotor are obtained.

Social implications

The transition rate and PID coefficients are determined by using the optimization method, which is advantageous in terms of cost and practicality.

Originality/value

With the proposed method, the aircraft can change shape to adapt to different environments, and the parameters required for more stable flight for each situation will be calculated, and this will be obtained more quickly and safely with the SPSA optimization method.

Details

Aircraft Engineering and Aerospace Technology, vol. 95 no. 10
Type: Research Article
ISSN: 1748-8842

Keywords

Article
Publication date: 8 September 2022

Zeyang Zhou and Jun Huang

The purpose of his paper is to study the radar stealth performance of a Y-type quadrotor with coaxial rotors and parallel rotors.

Abstract

Purpose

The purpose of his paper is to study the radar stealth performance of a Y-type quadrotor with coaxial rotors and parallel rotors.

Design/methodology/approach

This Y-type quadrotor is designed as an aerodynamic layout with parallel twin rotors at the front and coaxial twin rotors at the rear. The multi-rotor scattering (MRS) method based on multi-rotor dynamic simulation (MRDS) and electromagnetic scattering module (ESM) is presented. MRDS is used to simulate the complex rotation of parallel rotors and coaxial rotors. ESM is used to calculate the instantaneous radar cross-section (RCS) of the quadrotor.

Findings

For a single rotor, the minimum period of the RCS curve at a given azimuth is equal to the basic passage time of the blade, where increasing the speed can shorten this minimum period. When the elevation angle increases, the forward RCS fluctuation of the quadrotor increases, while the average RCS decreases. The change of the roll angle will affect both the mean and the maximum difference of the RCS–time curve at the given lateral azimuth. The increase of the pitch angle will enhance the dynamic amplitude of the RCS–time curve under the forward azimuth.

Practical implications

The research in this article can provide reference for the stealth design of the Y-type quadcopter in the future.

Originality/value

The originality is the establishment of the MRS method. This method could provide value for dealing with the electromagnetic scattering problem of coaxial rotors and parallel rotors.

Details

Aircraft Engineering and Aerospace Technology, vol. 95 no. 4
Type: Research Article
ISSN: 1748-8842

Keywords

Article
Publication date: 26 April 2022

David Kofi Oppong, Evans Obu, Timothy Asare and God'sable Sitsofe Koku Aidam

This study aims to present details of the development and validation of the multicopter modelling code (MMC), a tool for the analysis of small-scale multicopters based on flight…

Abstract

Purpose

This study aims to present details of the development and validation of the multicopter modelling code (MMC), a tool for the analysis of small-scale multicopters based on flight physics.

Design/methodology/approach

The development effort involved the study of aircraft dynamics and translating the equations of motion into MATLAB code. The authors also developed several auxiliary functions, so that the tool could trim the aircraft about a steady state, linearize the dynamic equations to produce a model that could be used for control systems design and carry out flight simulation.

Findings

MMC proved to be of good accuracy, producing results similar to those of other software such as AcuSolve, Overflow and the Rensselaer Multicopter Analysis Code (RMAC), which served as the motivation for this study.

Originality/value

The tool presented here provides an alternative to the aforementioned software, which are not freely available, programmed in MATLAB, a language well known to engineers and scientists.

Details

Aircraft Engineering and Aerospace Technology, vol. 94 no. 10
Type: Research Article
ISSN: 1748-8842

Keywords

1 – 10 of 138