TY - GEN
T1 - Altitude and attitude control of a trirotor UAV
AU - Khairuddin, Ismail M.
AU - Majeed, Anwar P.P.A.
AU - Lim, A. N.N.
AU - Razman, Mohd Azraai M.
AU - Jaafar, Abdul Aziz
PY - 2014
Y1 - 2014
N2 - This paper outlines the dynamic modelling as well as the attitude and altitude control of a rotary based unmanned aerial vehicle (UAV). A multirotor vertical take-off and landing (VTOL) UAVs, namely Trirotor aircraft is investigated. In essence the the trirotor model consists of three DC motors equipped with three fixed pitch angle rotors without the aid of a swashplate. The mathematical modelling of this multirotor is governed by the Newton-Euler formulation. A classical control algorithm viz. heuristic (Proportional-Integral-Derivative) PID tuning was adopted in the attitude and altitude control of this particular multirotor configuration. It was established from the Simulink simulations that, a PD controller was suffice to control the attitude whilst PID was apt for controlling the altitude of this form of multirotor.
AB - This paper outlines the dynamic modelling as well as the attitude and altitude control of a rotary based unmanned aerial vehicle (UAV). A multirotor vertical take-off and landing (VTOL) UAVs, namely Trirotor aircraft is investigated. In essence the the trirotor model consists of three DC motors equipped with three fixed pitch angle rotors without the aid of a swashplate. The mathematical modelling of this multirotor is governed by the Newton-Euler formulation. A classical control algorithm viz. heuristic (Proportional-Integral-Derivative) PID tuning was adopted in the attitude and altitude control of this particular multirotor configuration. It was established from the Simulink simulations that, a PD controller was suffice to control the attitude whilst PID was apt for controlling the altitude of this form of multirotor.
KW - MATLAB/simulink
KW - Proportional-integral-derivative (PID)
KW - Trirotor
KW - Unmanned aerial vehicle (UAV)
KW - Vertical take-off and landing (VTOL)
UR - http://www.scopus.com/inward/record.url?scp=84896813238&partnerID=8YFLogxK
U2 - 10.4028/www.scientific.net/AMR.903.309
DO - 10.4028/www.scientific.net/AMR.903.309
M3 - Conference Proceeding
AN - SCOPUS:84896813238
SN - 9783038350200
T3 - Advanced Materials Research
SP - 309
EP - 314
BT - Manufacturing Engineering
T2 - 1st International Manufacturing Engineering Conference, iMEC 2013
Y2 - 1 July 2013 through 3 July 2013
ER -