TY - JOUR JF - mdrsjrns JO - Modares Mechanical Engineering VL - 14 IS - 3 PY - 2014 Y1 - 2014/6/01 TI - Dynamic modeling, simulation and control of a quadrotor using MEMS sensors’ experimental data TT - مدلسازی دینامیکی، شبیه سازی وکنترل یک کوادروتور با استفاده از داده های آزمایشگاهی سنسورهای MEMS N2 - This paper presents the inverted PID control of a quadrotor based on the experimentally measured sensors and actuators’ specifications. The main goal is the control and closed loop simulation of a quadrotor using inverted PID algorithm. First, a nonlinear model of quadrotor is derived using Newton-Euler equations. To have a more realistic simulation a setup were designed and developed to measure the sensors noise performance as well as the actuators’ dynamics. The setup involves a platform that two brushless motors mounted at the ends and rotates on a shaft. The platform attitude is measured using the MEMS sensors attached to it. A Kalman filter was used to reduce the sensors noises effect. Results demonstrate good performance for Kalman filter and the controller. SP - 176 EP - 184 AU - davoodi, ehsan AU - Rezaei, Mhadi AD - Sahand university of technology KW - Quadrotor KW - MEMS Sensor KW - PID Control KW - Kalman filter UR - http://mme.modares.ac.ir/article-15-10790-en.html ER -