NDLI: Modeling and control of quadrotor systems

Content Provider	IEEE Xplore Digital Library
Author	Hussein, M.T. Nemah, M.N.
Copyright Year	2015
Description	Author affiliation: Eng. Tech. Coll., Al-Furat Al-Awsat Tech. Univ., Najaf, Iraq (Nemah, M.N.) \|\| Dept. of Mech. Eng., Univ. of Babylon, Babylon, Iraq (Hussein, M.T.)
Abstract	This research clarifies the control problem of quadrotor system using PD control. In order to design the control a nonlinear dynamic model of the quadrotor system is derived. The dynamic model contains set of equations valid for hovering. Those set of equations evolved a complex mathematical model with more realistic aerodynamic coefficients and actuator models. Two different control loops are designed in this work to control the motion of the quadrotor system. While the first loop is used to control position of the system; the second loop is utilized to control the orientation. The estimated control inputs are updated based on direct feedback of orientation and the position of the system. The simulation results show the effectiveness of overall systems model and the presented control approach. The work will be expanded later; where off-board test-rig can be used to test the suggested control approach.
Starting Page	725
Ending Page	730
File Size	430316
Page Count	6
File Format	PDF
e-ISBN	9781467372343
DOI	10.1109/ICRoM.2015.7367872
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-10-07
Publisher Place	Iran
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Propellers Attitude control DC motors Aerodynamics Mathematical model PD control
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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