Stabilization Algorithms for Automatic Control of the Trajectory Movement of Quadcopter
<p>The article considers an automatic quadcopter routing task. The quadcopter is an unmanned aerial vehicle (UAV), which has four engines. Currently, such already widely used vehicles are controlled, mainly, from the operator’s control panel. A relevant task is to develop a quadcopter control...
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MGTU im. N.È. Baumana
2015-01-01
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Online Access: | http://technomag.edu.ru/jour/article/view/294 |
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doaj-0d0743049e5d486da88cad344311aede2020-11-25T00:04:51ZrusMGTU im. N.È. BaumanaNauka i Obrazovanie1994-04082015-01-010521823510.7463/0515.0771076294Stabilization Algorithms for Automatic Control of the Trajectory Movement of QuadcopterKeKe Gen0N. A. Chulin1Bauman Moscow State Technical UniversityBauman Moscow State Technical University<p>The article considers an automatic quadcopter routing task. The quadcopter is an unmanned aerial vehicle (UAV), which has four engines. Currently, such already widely used vehicles are controlled, mainly, from the operator’s control panel. A relevant task is to develop a quadcopter control system that enables an autonomous flight. The aim of this paper is to study the possibility for solving this problem using an algorithm of the stabilization and trajectory control.</p><p>A mathematical model of the quadrocopter is the fairly complicated non-linear system, which can be obtained by using the Matlab Simulink and Universal Mechanism software systems simultaneously. Comparison of the simulation results in two software packages, i.e. Matlab wherein the nonlinear system of equations is modeled and UM wherein the flight path and other parameters are calculated according to transmitted forces and moments may prove correctness of the model used.</p><p>Synthesis of controllers for the orientation and stabilization subsystem and trajectory control subsystem, is performed on traditional principles, in particular using the PID controllers and method based on Lyapunov functions known in the literature as "backstepping." The most appropriate controls are selected by comparing the simulation results. Responses to the stepped impacts and to tracking the given paths have been simulated. It has been found that the flight path of a quadcopter almost coincides with designated routing, changes of coordinates for the quadcopter mass center of two controllers under comparison are almost the same, but a deviation range of the angular position for the controller backstepping is much smaller than that of for the PID controller.</p>http://technomag.edu.ru/jour/article/view/294quadcopterPID controlmethod of backsteppingmathematical modelsimulationflight stabilizationtracking mode |
collection |
DOAJ |
language |
Russian |
format |
Article |
sources |
DOAJ |
author |
KeKe Gen N. A. Chulin |
spellingShingle |
KeKe Gen N. A. Chulin Stabilization Algorithms for Automatic Control of the Trajectory Movement of Quadcopter Nauka i Obrazovanie quadcopter PID control method of backstepping mathematical model simulation flight stabilization tracking mode |
author_facet |
KeKe Gen N. A. Chulin |
author_sort |
KeKe Gen |
title |
Stabilization Algorithms for Automatic Control of the Trajectory Movement of Quadcopter |
title_short |
Stabilization Algorithms for Automatic Control of the Trajectory Movement of Quadcopter |
title_full |
Stabilization Algorithms for Automatic Control of the Trajectory Movement of Quadcopter |
title_fullStr |
Stabilization Algorithms for Automatic Control of the Trajectory Movement of Quadcopter |
title_full_unstemmed |
Stabilization Algorithms for Automatic Control of the Trajectory Movement of Quadcopter |
title_sort |
stabilization algorithms for automatic control of the trajectory movement of quadcopter |
publisher |
MGTU im. N.È. Baumana |
series |
Nauka i Obrazovanie |
issn |
1994-0408 |
publishDate |
2015-01-01 |
description |
<p>The article considers an automatic quadcopter routing task. The quadcopter is an unmanned aerial vehicle (UAV), which has four engines. Currently, such already widely used vehicles are controlled, mainly, from the operator’s control panel. A relevant task is to develop a quadcopter control system that enables an autonomous flight. The aim of this paper is to study the possibility for solving this problem using an algorithm of the stabilization and trajectory control.</p><p>A mathematical model of the quadrocopter is the fairly complicated non-linear system, which can be obtained by using the Matlab Simulink and Universal Mechanism software systems simultaneously. Comparison of the simulation results in two software packages, i.e. Matlab wherein the nonlinear system of equations is modeled and UM wherein the flight path and other parameters are calculated according to transmitted forces and moments may prove correctness of the model used.</p><p>Synthesis of controllers for the orientation and stabilization subsystem and trajectory control subsystem, is performed on traditional principles, in particular using the PID controllers and method based on Lyapunov functions known in the literature as "backstepping." The most appropriate controls are selected by comparing the simulation results. Responses to the stepped impacts and to tracking the given paths have been simulated. It has been found that the flight path of a quadcopter almost coincides with designated routing, changes of coordinates for the quadcopter mass center of two controllers under comparison are almost the same, but a deviation range of the angular position for the controller backstepping is much smaller than that of for the PID controller.</p> |
topic |
quadcopter PID control method of backstepping mathematical model simulation flight stabilization tracking mode |
url |
http://technomag.edu.ru/jour/article/view/294 |
work_keys_str_mv |
AT kekegen stabilizationalgorithmsforautomaticcontrolofthetrajectorymovementofquadcopter AT nachulin stabilizationalgorithmsforautomaticcontrolofthetrajectorymovementofquadcopter |
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