عنوان مقاله English
نویسندگان English
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.
کلیدواژهها English
