Introducing and simulation of two emerging stabilizer mechanisms for trajectory tracking of quadrotor UAVs under disturbance conditions: cross and pendulum stabilizing mechanisms

Document Type : Research Paper

Authors

1 Graduated Student, Department of Mechanical Engineering, Khajeh nasir toosi University

2 Professor, Department of Mechanical Engineering, Khajeh nasir toosi University

3 Graduated Student, Department of Mechanical Engineering, Imam Hossein University

Abstract

Nowadays, vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs) are used in wide range of applications. Because of the high maneuverability, hovering at a stationary point and simple configuration, they are widely considered. This alongside with their extreme nonlinearities and under actuating control system raises the importance of the control of flight. In this paper, the effect of using stabilizing mechanisms in trajectory tracking of quad-rotor unmanned aerial vehicles under wind gust disturbance is studied. Two innovative mechanisms are introduced and simulated in this study. The first one is a spherical pendulum stabilizer and the second one is a cross stabilizer. Also appropriate controller is designed for each stabilizer mechanism. The performances of the systems are investigated in the presence of disturbing forces. The results show that instead of using complicated nonlinear control methods, the proposed stabilizer mechanisms yields a desired performance. Acceptable trajectory tracking shows the successful effectiveness of the presented stabilizers.

Keywords

References

[1] S. Bouabdallah, Design and control of quadrotors with application to autonomous flying, PhD thesis, Univercity of EPFL, Lausanne, Switzerland, 2004.
[2] A. Rafi Al Tahtawi, M. Yusuf, Low-cost quadrotor hardware design with PID control system as flight controller, TELKOMNIKA,  Vol 17, No 4, pp. 1923-1930, 2019.
[3] R. Thusoo, S.Jain, PID Control of a Quadrotor, Advances in Communication and Computational Technology, pp. 633-645, 2021
[4] R. Miranda, L.T.Aguilar, Robust PID control of quadrotors with power reduction analysis, ISA Transactions, Vol 98, pp. 47-62, 2020.
[5] G. Zhu, S. Wang, L. Sun, Output Feedback Adaptive Dynamic Surface Sliding-Mode Control for Quadrotor UAVs with Tracking Error Constraints, Complexity: Theory and Applications of Complex Cyber-Physical Interactions, pp. 1-23, 2020.
[6] Jia Z, Yu J, Mei Y, Chen Y, Shen Y, Ai X  Integral backstepping sliding mode control for quadrotor helicopter under external uncertain disturbances, Aerospace Science and Technology,  Vol 68, pp. 299-307, 2017.
[7] M. Labbadi and M.Cherkaoui, Robust adaptive backstepping fast terminal sliding mode controller for uncertain quadrotor UAV, Aerospace Science and Technology,  Vol 99, pp. 290-304, 2020.
[8] J. Bell and P.Walker, Actived and passive controlled fluid tank system for ship stabilization, Transactions of Society of Naval Architects and Naval Engineers IMarEST, vol. 74, pp. 150-151, 1996.
[9] S. Ishizuka, A. Nikami and M. Sato, Control techniques for optical image stabilizing system, Consumer Electronics, IEEE Transactions on, vol. 39, pp. 461-466, Jun 1993.
[10] P. Suebsaiprom, C. L . Lin, 2-DOF barycenter mechanism for stabilization of fish-robots, Industrial Electronics and Applications (ICIEA), 2013 8th IEEE Conference on, Melbourne, VIC, June 2013.
[11] M. Wierema, Design, implementation and flight test of indoor navigation and control system for quadrotor UAV, M.S. thesis, Faculty of Aerospace Engineering, Delft University of Technology, Netherlands, 2008.
Aerospace Knowledge and Technology Journal
Volume 9, Issue 2 - Serial Number 2
October 2020
Pages 115-124

Files

Share

How to cite

Statistics