| Modeling, Simulation and Control of Quadcopter using PID Controller |
| Paper ID : 1160-IUGRC |
| Authors: |
|
Osama mohamed Hamdy Ahmed * Mechatronics Department - faculty of Engineering - October 6 university |
| Abstract: |
| Quadcopter also called Quadrotor helicopter, is popular as unmanned aerial vehicle (UAV). Quadcopter are widely used for variety of applications due to its small size. Quadrotor control is very important as the research field still facing challenges because the quadrotor is highly non-linear, multivariable system and since it has six degrees of Freedom but only four actuators .The motivation for this paper is to apply PID methodologies for quadcopter control system .The dynamic model is formulated using the Newton-Euler method. The derivation of mathematical model is followed by Development of Linear Proportional-Derivative-Integral (PID) controller to control altitude, attitude, heading, and position of quadcopter in space. The developed control system is for both the rectangular position (x, y) and altitude (z) as well as the orientation (attitude angles around the axes )based on 6-Degree of freedom (3 linear and 3 angular motions).The contributions of this work are: (1) deriving a detailed mathematical model of the quadrotor UAV, developing linear and nonlinear control algorithms and applying those on the derived mathematical model in computer based simulations.(2) comparison between the developed control algorithms in terms of their dynamic performance and their ability to stabilize the system under the effect of possible disturbances. Simulation of quadcopter is carried out using MATLAB Simulink. |
| Keywords: |
| Quadcopter, UAV, PID, MATLAB Simulink. |
| Status : Paper Accepted (Oral Presentation) |
