Using Simulink Support Package for Parrot Minidrones in nonlinear control education

Glazkov, Timur; Голубев, А. Е.

doi:10.1063/1.5140107

Cited by 8 publications

(4 citation statements)

References 12 publications

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“…Both blocks are provided by MATLAB 2022b in Simulink in UAV Toolbox. These UAV Toolbox are used in the Simulink Support Package for Parrot Minidrones developed by MIT [4]. The simulation undergoes for 60 s with set sampling time, Ts = 0.005 s.…”

Section: Simulation Resultsmentioning

confidence: 99%

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Adaptive PID Control via Sliding Mode for Position Tracking of Quadrotor MAV: Simulation and Real-Time Experiment Evaluation

2023

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The lightweight nature of micro air vehicles (MAVs) makes them highly sensitive to perturbations, thus emphasizing the need for effective control strategies that can sustain attitude stability throughout translational movement. This study evaluates the performance of two controllers (Proportional-Integral-Derivative (PID) and Adaptive PID based on Sliding Mode Control (SMC)) on a MAV that is subjected to external disturbances. These controllers are initially simulated using MATLAB®/Simulink™ and then implemented in real-time on the Parrot Mambo Minidrone. The observation on the waypoint follower and the orbit follower in both simulation and experiment showed that the Adaptive PID (APID) controller is more effective and robust than the PID controller against external disturbances such as wind gusts. The study provides evidence of the potential of the APID control scheme in enhancing the resilience and stability of MAVs, making them suitable for various applications including surveillance, search and rescue, and environmental monitoring.

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Section: Simulation Resultsmentioning

confidence: 99%

“…The Simulink Support Package for Parrot Minidrones (SSPPM) [3] provided by MAT-LAB is a valuable tool for researchers [4]. This package, which was developed by MIT and based on the Aerospace Blockset, enables researchers to enhance the tracking performance of the Parrot Mambo Minidrone by testing low-level control in a real-time platform.…”

Section: Introductionmentioning

confidence: 99%

Adaptive PID Control via Sliding Mode for Position Tracking of Quadrotor MAV: Simulation and Real-Time Experiment Evaluation

2023

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“…Hence, the possibility of low-level testing control to this Parrot Mambo Minidrone is the main advantage. The researcher utilized the provided add-on hardware support offered by MATLAB based on the Aerospace Blockset developed by MIT [3]. The MAV's quadrotor fuselage is a small but underactuated and dynamically unstable system, making designing a complete controller to be such a challenging task.…”

Section: Introductionmentioning

confidence: 99%

Position and Attitude Tracking of MAV Quadrotor Using SMC-Based Adaptive PID Controller

Noordin

Basri

Mohamed

2022

Drones

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A micro air vehicle (MAV) is physically lightweight, such that even a slight perturbation could affect its attitude and position tracking. To attain better autonomous flight system performance, MAVs require good control strategies to maintain their attitude stability during translational movement. However, the available control methods nowadays have fixed gain, which is associated with the chattering phenomenon and is not robust enough. To overcome the aforementioned issues, an adaptive proportional integral derivative (PID) control scheme is proposed. An adaptive mechanism based on a second-order sliding mode control is used to tune the parameter gains of the PID controller, and chattering phenomena are reduced by a fuzzy compensator. The Lyapunov stability theorem and gradient descent approach were the basis for the automated tuning. Comparisons between the proposed scheme against SMC-STA and SMC-TanH were also made. MATLAB Simulink simulation results showed the overall favourable performance of the proposed scheme. Finally, the proposed scheme was tested on a model-based platform to prove its effectiveness in a complex real-time embedded system. Orbit and waypoint followers in the platform simulation showed satisfactory performance for the MAV in completing its trajectory with the environment and sensor models as perturbation. Both tests demonstrate the advantages of the proposed scheme, which produces better transient performance and fast convergence towards stability.

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“…The full rigid body model of the flying vehicle is considered that does not make the assumption of small Euler angles. The nonlinear dynamics inversion and integrator backstepping approach was utilized to synthesize the control [2]. In another study, the PI-PD and Fuzzy PI-PD (FPI-PD) constructions were designed and deployed to tackle the Parrot Mambo Minidrone's position control problem.…”

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confidence: 99%

Improving the Size of the Propellers of the Parrot Mini-Drone and an Impact Study on its Flight Controller System

Kadhim

Abdulsadda

2023

IJRCS

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Unmanned Aerial Vehicles (UAVs) are widely used in transportation, delivery, surveillance and surveillance applications. The development of stable, resilient, and accurate flight based on turbulence and turbulence will likely become a key feature in the development of unique flight control systems. In this research, we studied the control system of a small Parrot mini drone, the Mambo drone, which was designed using the MATLAB program, while we added turbulence to the drone by changing the weight of the original plane in the design, where we increased the weight and calculated the vertical projection area of the propellers of the plane several times until we got the best space for the propellers able to carry more extra weight. We imposed an increase in the drone's weight due to bad conditions that the plane experienced during its flight, such as snow or dust falling on it. In order to make the aircraft bear these weather conditions without falling and colliding, we calculated an appropriate increase in the area of the aircraft wing, and we actually applied it in the MATLAB-R2021a Simulink program, and we got good results using simulation as well as in real-time inside the laboratory, turbulence was added in the simulation program. The new design of the propellers demonstrated the aircraft's ability to carry an additional payload of approximately one-third of the aircraft's weight, as shown in the roads chapter. In future work, we propose to use this design on larger aircraft with fixed propellers and to study the effects of other weather conditions on UAVs, such as the effect of temperature, humidity, and others.

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Using Simulink Support Package for Parrot Minidrones in nonlinear control education

Cited by 8 publications

References 12 publications

Adaptive PID Control via Sliding Mode for Position Tracking of Quadrotor MAV: Simulation and Real-Time Experiment Evaluation

Adaptive PID Control via Sliding Mode for Position Tracking of Quadrotor MAV: Simulation and Real-Time Experiment Evaluation

Position and Attitude Tracking of MAV Quadrotor Using SMC-Based Adaptive PID Controller

Improving the Size of the Propellers of the Parrot Mini-Drone and an Impact Study on its Flight Controller System

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