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.
davoodi,E and Rezaei,M . (2014). Dynamic modeling, simulation and control of a quadrotor using MEMS sensorsâ experimental data. Modares Mechanical Engineering, 14(3), 176-184.
MLA
davoodi,E , and Rezaei,M . "Dynamic modeling, simulation and control of a quadrotor using MEMS sensorsâ experimental data", Modares Mechanical Engineering, 14, 3, 2014, 176-184.
HARVARD
davoodi E, Rezaei M. (2014). 'Dynamic modeling, simulation and control of a quadrotor using MEMS sensorsâ experimental data', Modares Mechanical Engineering, 14(3), pp. 176-184.
CHICAGO
E davoodi and M Rezaei, "Dynamic modeling, simulation and control of a quadrotor using MEMS sensorsâ experimental data," Modares Mechanical Engineering, 14 3 (2014): 176-184,
VANCOUVER
davoodi E, Rezaei M. Dynamic modeling, simulation and control of a quadrotor using MEMS sensorsâ experimental data. Modares Mechanical Engineering. 2014;14(3):176-184 (In Persian).
