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Dynamic Modeling and Control of a HexaRotor using Linear and Nonlinear Methods
| International Journal of Applied Information Systems |
| Foundation of Computer Science (FCS), NY, USA |
| Volume 9 - Number 5 |
| Year of Publication: 2015 |
| Authors: Mostafa Moussid, Adil Sayouti, Hicham Medromi |
10.5120/ijais2015451411
|
Mostafa Moussid, Adil Sayouti, Hicham Medromi . Dynamic Modeling and Control of a HexaRotor using Linear and Nonlinear Methods. International Journal of Applied Information Systems. 9, 5 ( August 2015), 9-17. DOI=10.5120/ijais2015451411
Abstract
A hexacopter aircraft is a class of helicopter, more specifically of multirotors. The hexacopter has several characteristics (mechanically simple, vertical takeoff and landing, hovering capacities, agile) that give it several operational advantages over other types of aircraft. But its beneficts come at a cost: the hexacopter has a highly nonlinear dynamics, coupled and underactuated which makes it impossible to operate without a feedback controller action. In this work we present a detailed mathematical model for a Vertical Takeoff and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) known as the hexarotor. The nonlinear dynamic model of the hexarotor is formulated using the Newton-Euler method, the formulated model is detailed including aerodynamic effects and rotor dynamics that are omitted in many literature. Three controls schemes, namely Proportional-Derivative-Integral (PID) controller, backstepping and sliding mode (SMC), have been applied to control the altitude, attitude, heading and position of the hexacopter in space. Simulation based experiments were conducted to evaluate and compare the performance of three developed control techniques in terms of dynamic performance, stability and the effect of possible disturbances. This article focuses on modeling strategy and command of a kind hexarotor type unmanned aerial vehicle (UAV). These developments are part of the overall project initiated by the team (EAS) of the Computer Laboratory, systems and renewable energy (LISER) of the National School of Electrical and Mechanical (ENSEM).
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