Altitude and Attitude Control of a Trirotor UAV
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 equi...
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| Format: | Article |
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Trans Tech Publications, Switzerland
2014
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| _version_ | 1825821661116497920 |
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| author | Ismail, Mohd Khairuddin Anwar, P. P. Abdul Majeed Ann, Lim Mohd Azraai, M. Razman Abdul Aziz, Jaafar |
| author_facet | Ismail, Mohd Khairuddin Anwar, P. P. Abdul Majeed Ann, Lim Mohd Azraai, M. Razman Abdul Aziz, Jaafar |
| author_sort | Ismail, Mohd Khairuddin |
| collection | UMP |
| description | 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. |
| first_indexed | 2024-03-06T11:44:55Z |
| format | Article |
| id | UMPir5542 |
| institution | Universiti Malaysia Pahang |
| last_indexed | 2024-03-06T11:44:55Z |
| publishDate | 2014 |
| publisher | Trans Tech Publications, Switzerland |
| record_format | dspace |
| spelling | UMPir55422021-10-06T23:52:16Z http://umpir.ump.edu.my/id/eprint/5542/ Altitude and Attitude Control of a Trirotor UAV Ismail, Mohd Khairuddin Anwar, P. P. Abdul Majeed Ann, Lim Mohd Azraai, M. Razman Abdul Aziz, Jaafar TS Manufactures 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. Trans Tech Publications, Switzerland 2014 Article PeerReviewed Ismail, Mohd Khairuddin and Anwar, P. P. Abdul Majeed and Ann, Lim and Mohd Azraai, M. Razman and Abdul Aziz, Jaafar (2014) Altitude and Attitude Control of a Trirotor UAV. Advanced Materials Research, 903. pp. 309-314. ISSN 1022-6680 (print), 1662-8985 (online). (Published) http://dx.doi.org/10.4028/www.scientific.net/AMR.903.309 DOI: 10.4028/www.scientific.net/AMR.903.309 |
| spellingShingle | TS Manufactures Ismail, Mohd Khairuddin Anwar, P. P. Abdul Majeed Ann, Lim Mohd Azraai, M. Razman Abdul Aziz, Jaafar Altitude and Attitude Control of a Trirotor UAV |
| title | Altitude and Attitude Control of a Trirotor UAV |
| title_full | Altitude and Attitude Control of a Trirotor UAV |
| title_fullStr | Altitude and Attitude Control of a Trirotor UAV |
| title_full_unstemmed | Altitude and Attitude Control of a Trirotor UAV |
| title_short | Altitude and Attitude Control of a Trirotor UAV |
| title_sort | altitude and attitude control of a trirotor uav |
| topic | TS Manufactures |
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