Modelling and PID control of a quadrotor aerial robot

Ismail M. Khairuddin; Anwar P.P.A. Majeed; Ann Lim; Jessnor Arif M. Jizat; Abdul Aziz Jaafar

doi:10.4028/www.scientific.net/AMR.903.327

Modelling and PID control of a quadrotor aerial robot

Ismail M. Khairuddin, Anwar P.P.A. Majeed, Ann Lim, Jessnor Arif M. Jizat, Abdul Aziz Jaafar

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

12 Citations (Scopus)

Abstract

This paper elucidates the modeling of a '+' quadrotor configuration aerial vehicle and the design of its attitude and altitude controllers. The aircraft model consists of four fixed pitch angle propeller, each driven by an electric DC motor. The hovering flight of the quadrotor is governed by the Newton-Euler formulation. The attitude and altitude controls of the aircraft were regulated using heuristically tuned (Proportional-Integral-Derivative) PID controller. It was numerically simulated via Simulink that a PID controller was sufficient to bring the aircraft to the required altitude whereas the attitude of the vehicle is adequately controlled by a PD controller.

Original language	English
Title of host publication	Manufacturing Engineering
Pages	327-331
Number of pages	5
DOIs	https://doi.org/10.4028/www.scientific.net/AMR.903.327
Publication status	Published - 2014
Externally published	Yes
Event	1st International Manufacturing Engineering Conference, iMEC 2013 - Gambang, Kuantan, Pahang, Malaysia Duration: 1 Jul 2013 → 3 Jul 2013

Publication series

Name	Advanced Materials Research
Volume	903
ISSN (Print)	1022-6680

Conference

Conference	1st International Manufacturing Engineering Conference, iMEC 2013
Country/Territory	Malaysia
City	Gambang, Kuantan, Pahang
Period	1/07/13 → 3/07/13

Keywords

Attitude and altitude control
MATLAB/simulink
Proportional-integral-derivative (pid)
Quadrotor

Access to Document

10.4028/www.scientific.net/AMR.903.327

Cite this

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title = "Modelling and PID control of a quadrotor aerial robot",

abstract = "This paper elucidates the modeling of a '+' quadrotor configuration aerial vehicle and the design of its attitude and altitude controllers. The aircraft model consists of four fixed pitch angle propeller, each driven by an electric DC motor. The hovering flight of the quadrotor is governed by the Newton-Euler formulation. The attitude and altitude controls of the aircraft were regulated using heuristically tuned (Proportional-Integral-Derivative) PID controller. It was numerically simulated via Simulink that a PID controller was sufficient to bring the aircraft to the required altitude whereas the attitude of the vehicle is adequately controlled by a PD controller.",

keywords = "Attitude and altitude control, MATLAB/simulink, Proportional-integral-derivative (pid), Quadrotor",

author = "Khairuddin, {Ismail M.} and Majeed, {Anwar P.P.A.} and Ann Lim and Jizat, {Jessnor Arif M.} and Jaafar, {Abdul Aziz}",

year = "2014",

doi = "10.4028/www.scientific.net/AMR.903.327",

language = "English",

isbn = "9783038350200",

series = "Advanced Materials Research",

pages = "327--331",

booktitle = "Manufacturing Engineering",

note = "1st International Manufacturing Engineering Conference, iMEC 2013 ; Conference date: 01-07-2013 Through 03-07-2013",

}

Khairuddin, IM, Majeed, APPA, Lim, A, Jizat, JAM & Jaafar, AA 2014, Modelling and PID control of a quadrotor aerial robot. in Manufacturing Engineering. Advanced Materials Research, vol. 903, pp. 327-331, 1st International Manufacturing Engineering Conference, iMEC 2013, Gambang, Kuantan, Pahang, Malaysia, 1/07/13. https://doi.org/10.4028/www.scientific.net/AMR.903.327

TY - GEN

T1 - Modelling and PID control of a quadrotor aerial robot

AU - Khairuddin, Ismail M.

AU - Majeed, Anwar P.P.A.

AU - Lim, Ann

AU - Jizat, Jessnor Arif M.

AU - Jaafar, Abdul Aziz

PY - 2014

Y1 - 2014

N2 - This paper elucidates the modeling of a '+' quadrotor configuration aerial vehicle and the design of its attitude and altitude controllers. The aircraft model consists of four fixed pitch angle propeller, each driven by an electric DC motor. The hovering flight of the quadrotor is governed by the Newton-Euler formulation. The attitude and altitude controls of the aircraft were regulated using heuristically tuned (Proportional-Integral-Derivative) PID controller. It was numerically simulated via Simulink that a PID controller was sufficient to bring the aircraft to the required altitude whereas the attitude of the vehicle is adequately controlled by a PD controller.

AB - This paper elucidates the modeling of a '+' quadrotor configuration aerial vehicle and the design of its attitude and altitude controllers. The aircraft model consists of four fixed pitch angle propeller, each driven by an electric DC motor. The hovering flight of the quadrotor is governed by the Newton-Euler formulation. The attitude and altitude controls of the aircraft were regulated using heuristically tuned (Proportional-Integral-Derivative) PID controller. It was numerically simulated via Simulink that a PID controller was sufficient to bring the aircraft to the required altitude whereas the attitude of the vehicle is adequately controlled by a PD controller.

KW - Attitude and altitude control

KW - MATLAB/simulink

KW - Proportional-integral-derivative (pid)

KW - Quadrotor

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M3 - Conference Proceeding

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SN - 9783038350200

T3 - Advanced Materials Research

SP - 327

EP - 331

BT - Manufacturing Engineering

T2 - 1st International Manufacturing Engineering Conference, iMEC 2013

Y2 - 1 July 2013 through 3 July 2013

ER -

Modelling and PID control of a quadrotor aerial robot

Abstract

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Conference

Keywords

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