Open AccessController Modeling of a Quadrotor
Author(s) -
Erick P. Herrera-Granda,
Leandro L. Lorente-Leyva,
Jenny Yambay,
Jesús Aranguren,
Marcelo Pérez Ibarra,
Julio Frías Peña
Publication year - 2022
Publication title -
ingénierie des systèmes d'information/ingénierie des systèmes d'information
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.161
H-Index - 8
eISSN - 2116-7125
pISSN - 1633-1311
DOI - 10.18280/isi.270103
Subject(s) - control theory (sociology) , overshoot (microwave communication) , controller (irrigation) , control engineering , computer science , nonlinear system , state space , process (computing) , trajectory , control (management) , engineering , mathematics , artificial intelligence , telecommunications , statistics , physics , quantum mechanics , astronomy , agronomy , biology , operating system
Dynamic modeling and control are research fields that hake kept the attention of researchers over the last decades. In this paper we describe a detailed approach to model, design and simulate a feedback controller for a quadrotor with the aim of giving the reader a detailed procedure to obtain the dynamic model and link this model with a controller design strategy. For this purpose, the dynamic model of the Parrot AR. Drone 2.0 was obtained using the Newton-Euler formulations. Next, the model was converted to the state space, and it was linearized to get the equations to perform a controller gain estimation process. Finally, the performance of state feedback controller visualized for both the linear and nonlinear models. Results shown that, the challenging goal of stabilizing the quadrotor at a desired trajectory, in short time without overshoot problems, can be achieved by means of a simple control strategy.