UMP Institutional Repository

Altitude and Attitude Control of a Trirotor UAV

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)

Full text not available from this repository. (Request a copy)

Abstract

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.

Item Type: Article
Additional Information: Indexed in Scopus
Uncontrolled Keywords: Landing (VTOL); MATLAB/Simulink; Proportional-Integral-Derivative (PID); Trirotor; Unmanned Aerial Vehicle (UAV); Vertical take-off
Subjects: T Technology > TS Manufactures
Faculty/Division: Faculty of Manufacturing Engineering
Depositing User: yaa
Date Deposited: 19 May 2014 07:17
Last Modified: 28 May 2018 07:44
URI: http://umpir.ump.edu.my/id/eprint/5542
Download Statistic: View Download Statistics

Actions (login required)

View Item View Item