Dynamic modeling, simulation and control of a quadrotor using feedback linearization and PID controller based on MEMS sensorsâ experimental dat

Nourimotlagh, Masoud; Safarpour, Pedram; Pourgholi, Mehdi

Dynamic modeling, simulation and control of a quadrotor using feedback linearization and PID controller based on MEMS sensorsâ experimental dat

Authors

Masoud Nourimotlagh

Pedram Safarpour

Mehdi Pourgholi

Abstract

The purpose of this article is dynamic modeling of a quadrotor and control of its Roll and Pitch angles based on the experimentally measured sensors data. So, after driving nonlinear model of quadrotor equations, the control of the quadrotor’s angular situation was simulated using PID and feedback linearization algorithms. Due to the widespread application of MEMS sensors in measuring the status of various systems and to have a more realistic simulation, sensors data was measured and used in simulation of controllers. Due to errors of MEMS sensors, vibration of motors and airframe, being noise on outputs, Kalman filter was used for estimation of angular situation. As one of the purposes of this paper was the use of its results in actual control of a quadrotor, motor model was used to determine PWM control signals. The results obtained from simulation in Simulink showed good performance of both controllers in controlling roll and pitch angles.

Keywords

Quadrotor

MEMS Sensor

PID Control

Kalman

linearization feedback