Dynamic Modeling and Flight Control Design for Multicopter
Journal
International Review of Aerospace Engineering
Date Issued
2018-10
Author(s)
Bunjaku, Drilon
Nadzinski, Gorjan
DOI
https://doi.org/10.15866/irease.v11i5.15512
Abstract
This paper presents a step by step dynamic modeling of the multicopter – quadcopter
based on Newton Euler formalism, including the dynamics of the motor and the propellers. The
linearization of the nonlinear mathematical model of the quadrotor is derived systematically when
yaw angle is not 0 . Consequently, the simulation model of the flight controller based on the cascade control
has been designed, which ensures a stabilization of the quad rotor and a robust-like trajectory
tracking performance. The proposed cascade control strategy including the outer inverse
dynamics provides controlling of the yaw orientation angle. The comparison of a use of a linear
cascade PID-PD and the combination of PID-MPC is performed on 3D referent trajectories
tracking with and without the presence of periodic external torque disturbances. The results are
obtained from the MATLAB simulation model.
based on Newton Euler formalism, including the dynamics of the motor and the propellers. The
linearization of the nonlinear mathematical model of the quadrotor is derived systematically when
yaw angle is not 0 . Consequently, the simulation model of the flight controller based on the cascade control
has been designed, which ensures a stabilization of the quad rotor and a robust-like trajectory
tracking performance. The proposed cascade control strategy including the outer inverse
dynamics provides controlling of the yaw orientation angle. The comparison of a use of a linear
cascade PID-PD and the combination of PID-MPC is performed on 3D referent trajectories
tracking with and without the presence of periodic external torque disturbances. The results are
obtained from the MATLAB simulation model.
Subjects
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