Mathematical modelling and simulation of a quadrotor unmanned aerial vehicle with automatic altitude and speed control

Jenie, Yazdi I.; Fathurrahman, Aziz; Arifianto, Ony; Sasongko, Rianto Adhy

doi:10.1063/5.0002805

Cited by 8 publications

(7 citation statements)

References 6 publications

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“…Namun, popularitas dari teknologi drone ini masih belum banyak dipelajari secara akademis, baik secara pemodelan dinamik, perancangan, maupun analisis-analisisnya [2] . Sampai dengan saat ini, masih terdapat banyak faktor-faktor yang menjadi pertanyaan dari sebuah drone, sehingga analisis dinamik ataupun pengembangan desainnya menjadi sedikit terbengkalai, karena drone dalam praktiknya di lapangan seringkali dibangun dengan mengandalkan prinsip keterampilan merakit semata ketimbang dengan menggunakan prinsip rekayasa teknik.…”

Section: Pendahuluanunclassified

“…Kemudian dalam proses analisis kestabilan model dinamik, dibuktikan juga karakteristik inheren dari 4 output pergerakan multirotor yang sifatnya tidak akan pernah stabil secara fisik tanpa adanya proses Closed Loop pada sistem, sebagaimana dinyatakan oleh state of the art [2] . Misal model Simulink disusun hanya meliputi Subsystem Model Fisik Hexacopter, dan Subsystem Motor Mixing Algorithm saja, belum disusun secara final ditambah subsystem dari sistem kendali, ketika input sistem tersebut diberi stimulus berupa sinyal impulse, maka terbentuk hasil respon yang terus menaik seperti diperlihatkan pada Gambar 11.…”

Section: Hasil Dan Diskusiunclassified

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Pemodelan Sistem Dinamik Dan Implementasi Simulink Pengendalian Kestabilan Unmanned Aerial Vehicle Multirotor Hexacopter Cargo

Soputra,

Tobing,

Rawikara

2023

JRM

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The rapid growth of Unmanned Aerial Vehicle (UAV) technology, or drone, has shown its popularity and has been significantly applied to various purposes today. Nevertheless, with all the sophistication of drones, many related topics are still attractive, especially when a drone is designed to carry out a cargo mission. Thus, in this research, the dynamic model of a Hexacopter drone to deliver goods belongs to PT Aero Terra Scan is being developed. This dynamic modeling aims to further the drone's development by modeling it in 2 cases: no-payload and with a payload of 5 kg cases. The dynamic model of this Hexacopter is based on flight dynamics, a field of science studied in Aeronautical Engineering, and is implemented using Simulink. Through the results of this research, several conclusions have been withdrawn: (1) The drone's unstable nature characteristic inherently, even though it is analyzed from the initial hover condition. Thus, the drone and its system as a whole can never be separated with the feedback control that made it can maneuver adequately. (2) Several technical parameters of this Hexacopter, including the geometry, mass, the moment of inertia, until the estimation of motor throttle is required to achieve its hover conditions, both in the no-payload case and with-payload of 5 kg case. (3) The Hexacopter basic dynamic system model is based on the flight dynamics until its motion system control tuning through root locus map analysis using Simulink.

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Section: Pendahuluanunclassified

Section: Hasil Dan Diskusiunclassified

Pemodelan Sistem Dinamik Dan Implementasi Simulink Pengendalian Kestabilan Unmanned Aerial Vehicle Multirotor Hexacopter Cargo

Soputra,

Tobing,

Rawikara

2023

JRM

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“…The matrix ∈ (3) which is defined in the following form: Detailed information on mathematical modeling can be found in many papers such as [25,26].…”

Section: Problem Formulationmentioning

confidence: 99%

A composite controller based on nonlinear H_∞ and nonlinear disturbance observer for attitude stabilization of a flying robot

Razmavar

Talebi

Abdollahi

2021

IJEECS

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<span>In this article a novel composite control technique is introduced. We added a nonlinear disturbance observer to a nonlinear H_∞ control to form this composite controller. The quadrotor kinematics and dynamics is formulated using euler angles and parameters. After that, this nonlinear robust controller is developed for this flying robot attitude control for the outdoor conditions. Because under these conditions the flying robot, experiences both external disturbance and parametric uncertainty. Stability analysis is also presented to show the global asymptotical stability using a Lyapunov function. The simulation results showed that the suggested composite controller had a better performance in comparison with a nonlinear H_∞ control scheme.</span>

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“…An alternative to this is to derive the model out of first principles, using the basic laws that govern the flight of a vehicle in the atmosphere. A rigorous mathematical approach was applied by Kotarski et al (2016), and Jenie et al (2020) developed a Simulink model for a quadcopter. It has remained to identify a model that may be adapted to an arbitrary multicopter without the complexity of a totally mathematical approach or the cost involved in an experimental setup.…”

Section: Introductionmentioning

confidence: 99%

Development and validation of the multicopter modelling code: a physics-based tool for multicopter analysis

Oppong

Obu²,

Asare³

et al. 2022

AEAT

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Purpose This study aims to present details of the development and validation of the multicopter modelling code (MMC), a tool for the analysis of small-scale multicopters based on flight physics. Design/methodology/approach The development effort involved the study of aircraft dynamics and translating the equations of motion into MATLAB code. The authors also developed several auxiliary functions, so that the tool could trim the aircraft about a steady state, linearize the dynamic equations to produce a model that could be used for control systems design and carry out flight simulation. Findings MMC proved to be of good accuracy, producing results similar to those of other software such as AcuSolve, Overflow and the Rensselaer Multicopter Analysis Code (RMAC), which served as the motivation for this study. Originality/value The tool presented here provides an alternative to the aforementioned software, which are not freely available, programmed in MATLAB, a language well known to engineers and scientists.

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Mathematical modelling and simulation of a quadrotor unmanned aerial vehicle with automatic altitude and speed control

Cited by 8 publications

References 6 publications

Pemodelan Sistem Dinamik Dan Implementasi Simulink Pengendalian Kestabilan Unmanned Aerial Vehicle Multirotor Hexacopter Cargo

Pemodelan Sistem Dinamik Dan Implementasi Simulink Pengendalian Kestabilan Unmanned Aerial Vehicle Multirotor Hexacopter Cargo

A composite controller based on nonlinear H_∞ and nonlinear disturbance observer for attitude stabilization of a flying robot

Development and validation of the multicopter modelling code: a physics-based tool for multicopter analysis

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