Altitude and Attitude Control of a Trirotor UAV

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 equi...

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Main Authors:	Ismail, Mohd Khairuddin, Anwar, P. P. Abdul Majeed, Ann, Lim, Mohd Azraai, M. Razman, Abdul Aziz, Jaafar
Format:	Article
Published:	Trans Tech Publications, Switzerland 2014
Subjects:	TS Manufactures
Online Access:	http://umpir.ump.edu.my/id/eprint/5542/ http://umpir.ump.edu.my/id/eprint/5542/ http://umpir.ump.edu.my/id/eprint/5542/

id	oai:umpir.ump.edu.my:5542
recordtype	eprints
spelling	oai:umpir.ump.edu.my:55422018-05-28T07:44:52Z http://umpir.ump.edu.my/id/eprint/5542/ Altitude and Attitude Control of a Trirotor UAV Ismail, Mohd Khairuddin Anwar, P. P. Abdul Majeed Ann, Lim Mohd Azraai, M. Razman Abdul Aziz, Jaafar TS Manufactures 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. Trans Tech Publications, Switzerland 2014 Article PeerReviewed 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) http://dx.doi.org/10.4028/www.scientific.net/AMR.903.309 DOI: 10.4028/www.scientific.net/AMR.903.309
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
topic	TS Manufactures
spellingShingle	TS Manufactures Ismail, Mohd Khairuddin Anwar, P. P. Abdul Majeed Ann, Lim Mohd Azraai, M. Razman Abdul Aziz, Jaafar Altitude and Attitude Control of a Trirotor UAV
description	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.
format	Article
author	Ismail, Mohd Khairuddin Anwar, P. P. Abdul Majeed Ann, Lim Mohd Azraai, M. Razman Abdul Aziz, Jaafar
author_facet	Ismail, Mohd Khairuddin Anwar, P. P. Abdul Majeed Ann, Lim Mohd Azraai, M. Razman Abdul Aziz, Jaafar
author_sort	Ismail, Mohd Khairuddin
title	Altitude and Attitude Control of a Trirotor UAV
title_short	Altitude and Attitude Control of a Trirotor UAV
title_full	Altitude and Attitude Control of a Trirotor UAV
title_fullStr	Altitude and Attitude Control of a Trirotor UAV
title_full_unstemmed	Altitude and Attitude Control of a Trirotor UAV
title_sort	altitude and attitude control of a trirotor uav
publisher	Trans Tech Publications, Switzerland
publishDate	2014
url	http://umpir.ump.edu.my/id/eprint/5542/ http://umpir.ump.edu.my/id/eprint/5542/ http://umpir.ump.edu.my/id/eprint/5542/
first_indexed	2018-09-07T00:47:23Z
last_indexed	2018-09-07T00:47:23Z
_version_	1610907641383485440

Altitude and Attitude Control of a Trirotor UAV

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