Controller Design And Modelling of UAV Quadcopter

Abstract

The dynamics of a quadcopter unmanned aerial vehicle (UAV) and proportional integral derivative (PID) control based on disturbance rejection are mathematically modelled in this work. The model presented is a nonlinear in nature and modelled with respect to the two fundamental frames of reference and physical mathematical laws. The objective is to create the most accurate replica of the vehicle. The created model is utilized to develop a PID controller method that will precisely and steadily operate the quadrotor system. The development of a controller is to obtain stability in the quadcopter system. First, the nonlinear and couple model quadcopter were established, and control described the principles of the ability of decoupling rejection control then the model was decoupled. The system contains four input forces, which are basically the thrust provided by each propeller coupled to each rotor with a fixed angle. Pitch angle must change in order to maintain forward (backward) motion, which is accomplished by simultaneously increasing (decreasing) front (rear) rotor speed and decreasing (increasing) rear (front) rotor speed. The same method is used to change the roll angle for left and right motion. The motors in the front and rear spin counter-clockwise, while the motors in other motor positions rotate clockwise. This causes the yaw command to be generated by either raising or reducing the speed of the counter-clockwise motors while reducing or increasing the speed of the clockwise motors. The achieved goal here is the derivation of a model that properly reflects the physical properties enabling realistic simulations and is simple enough to be applied to controller design in the future. The system and controller's mathematical models were converted to matching Simulink models in order to make system simulations and investigations easier. The results show the accuracy and significant disturbance rejection of the nonlinear model.