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Development of a Robust Control System for an Autonomous Quadcopter
Yaseen, Amal Trabulsi, Elaf Kattan, Len
Yaseen, Amal
Trabulsi, Elaf
Kattan, Len
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Abstract
A drone or UAV is an Unmanned Aerial Vehicle with multiple forms of usage. Drones can be programmed to fly with different degrees of autonomous flight. Autonomous-controlled flight makes it possible for the drone to fly without human involvement and it is then controlled solely by software. In the near future, UAVs will help people and industries accomplish tasks that would have been impossible before, such as covering delivery services and transportation. For the purpose of having a stable and proper movement of a quadcopter under any circumstances such as climatic changes and air bumps, the design and development of robust controllers is essential. This paper proposed control methodologies to investigate system parameters by using different control schemes as PID and LQR. The desired accuracy is a parameter of the time-response performance param eters such as overshoot, settling time, and steady-state time. This work started by deriving the forward and inverse kinematics of the quadcopter with respect to the ground frame. The Denavit-Hartenberg method is utilized in the matrices derivation. Moreover, the dynamics model of the system was studied to find the actuators’ torques, angular velocity, and acceleration parameters. The MATLAB environment was utilized in processing the mathematical frame. By selecting the best system parameters, the most robust controller could be developed. The last phase of this work is the system implementation via a prototype that includes four PID controllers for the thrust, Roll, Pitch, and Yaw; sensor system to pro vide a fixed altitude and to provide proximity measurements of the environment, and Arduino module (for programming), I2C for interfacing, Pulse Width Modulation (PWM), and power management Con troller.A drone or UAV is an Unmanned Aerial Vehicle with multiple forms of usage. Drones can be programmed to fly with different degrees of autonomous flight. Autonomous-controlled flight makes it possible for the drone to fly without human involvement and it is then controlled solely by software. In the near future, UAVs will help people and industries accomplish tasks that would have been impossible before, such as covering delivery services and transportation. For the purpose of having a stable and proper movement of a quadcopter under any circumstances such as climatic changes and air bumps, the design and development of robust controllers is essential. This paper proposed control methodologies to investigate system parameters by using different control schemes as PID and LQR. The desired accuracy is a parameter of the time-response performance param eters such as overshoot, settling time, and steady-state time. This work started by deriving the forward and inverse kinematics of the quadcopter with respect to the ground frame. The Denavit-Hartenberg method is utilized in the matrices derivation. Moreover, the dynamics model of the system was studied to find the actuators’ torques, angular velocity, and acceleration parameters. The MATLAB environment was utilized in processing the mathematical frame. By selecting the best system parameters, the most robust controller could be developed. The last phase of this work is the system implementation via a prototype that includes four PID controllers for the thrust, Roll, Pitch, and Yaw; sensor system to pro vide a fixed altitude and to provide proximity measurements of the environment, and Arduino module (for programming), I2C for interfacing, Pulse Width Modulation (PWM), and power management Con troller.