Hovering control algorithm validation for a mobile platform using an experimental test bench

Abstract

This paper deals with the validation of a hovering control algorithm for a mobile aerial platform executed on a quadcopter pattern. In order to test and evaluate the proposed hovering algorithm in a safe and controllable environment conditions, an experimental test bench has been introduced. As part of the hovering control algorithm implementation process, a brief description of the dynamics and control laws of the quadcopter is presented. The considered control technique in this paper is based on PID control method. A program code has been written using Arduino IDE based on Arduino UNO microcontroller. A description of the conducted indoor experiment for the validation of the hovering algorithm, and also the main results of the performed practical experiment are presented

Hardware/Software Architecture for Research of Control Algorithms of a Quadcopter in the Presence of External Wind Loads

“…The position of the center of mass of the convertiplane-quadcopter in space is characterized by the X 0 , Y 0 ,Z 0 coordinates in a global Cartesian coordinate system and the three angles of rotation ϕ, θ, ψ-roll, pitch, and yaw angles around the axes of the local coordinate system CX 1 Y 1 Z 1 [3,[13][14][15] (Fig. 1).…”

“…When the quadcopter propellers rotate, there is a torque moment M KP , created by the traction forces F i of the main propellers. This moment is directed in the side opposite to the rotation of the propellers and is proportional to the angular velocity of the propeller [1,3,13]:…”

“…Taking into account the symmetry of the quadcopter and on the basis of the issues of mathematical modeling and research of the spatial motion of the convertiplane along the trajectory previously discussed in the articles [3,4,13,16], the system of nonlinear differential equations will have the form:…”

“…The quadcopter includes two pairs of motors rotating in a counterclockwise direction CCW (motors 1 and 2) and the remaining two motors rotating clockwise CW (motors 3 and 4). The four control variables U i are expressed as [7,13,17]:…”