Full Text Available
Note: Clicking the button above will open the full text document at the original institutional repository in a new window.
Dynamic modeling and control of a Quadrotor using linear and nonlinear approaches
With the huge advancements in miniature sensors, actuators and processors depending mainly on the Micro and Nano-Electro-Mechanical-Systems (MEMS/NEMS), many researches are now focusing on developing miniature flying vehicles to be used in both research and commercial applications. This thesis work...
Saved in:
| Main Author: | |
|---|---|
| Format: | Thesis |
| Published: |
AUC Knowledge Fountain
2014
|
| Subjects: | |
| Tags: |
No Tags, Be the first to tag this record!
|
| _version_ | 1867613417413541888 |
|---|---|
| access_status_str | Open Access |
| author | Elkholy, Heba talla Mohamed Nabil |
| author_browse | Elkholy, Heba talla Mohamed Nabil |
| author_facet | Elkholy, Heba talla Mohamed Nabil |
| author_sort | Elkholy, Heba talla Mohamed Nabil |
| collection | Thesis |
| dc_rights_str_mv | The author retains all rights with regard to copyright. The author certifies that written permission from the owner(s) of third-party copyrighted matter included in the thesis, dissertation, paper, or record of study has been obtained. The author further certifies that IRB approval has been obtained for this thesis, or that IRB approval is not necessary for this thesis. Insofar as this thesis, dissertation, paper, or record of study is an educational record as defined in the Family Educational Rights and Privacy Act (FERPA) (20 USC 1232g), the author has granted consent to disclosure of it to anyone who requests a copy. |
| description | With the huge advancements in miniature sensors, actuators and processors depending mainly on the Micro and Nano-Electro-Mechanical-Systems (MEMS/NEMS), many researches are now focusing on developing miniature flying vehicles to be used in both research and commercial applications. This thesis work presents a detailed mathematical model for a Vertical Takeo ff and Landing (VTOL) type Unmanned Aerial Vehicle(UAV) known as the quadrotor. The nonlinear dynamic model of the quadrotor is formulated using the Newton-Euler method, the formulated model is detailed including aerodynamic effects and rotor dynamics that are omitted in many literature. The motion of the quadrotor can be divided into two subsystems; a rotational subsystem (attitude and heading) and a translational subsystem (altitude and x and y motion). Although the quadrotor is a 6 DOF underactuated system, the derived rotational subsystem is fully actuated, while the translational subsystem is underactuated. The derivation of the mathematical model is followed by the development of four control approaches to control the altitude, attitude, heading and position of the quadrotor in space. The fi rst approach is based on the linear Proportional-Derivative-Integral (PID) controller. The second control approach is based on the nonlinear Sliding Mode Controller (SMC). The third developed controller is a nonlinear Backstepping controller while the fourth is a Gain Scheduling based PID controller. The parameters and gains of the forementioned controllers were tuned using Genetic Algorithm (GA) technique to improve the systems dynamic response. Simulation based experiments were conducted to evaluate and compare the performance of the four developed control techniques in terms of dynamic performance, stability and the effect of possible disturbances. |
| format | Thesis |
| id | oai:fount.aucegypt.edu:etds-2291 |
| institution | American University in Cairo (Egypt) |
| last_indexed | 2026-06-10T12:35:48.888Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from AUC Knowledge Fountain — bepress |
| publishDate | 2014 |
| publishDateRange | 2014 |
| publishDateSort | 2014 |
| publisher | AUC Knowledge Fountain |
| publisherStr | AUC Knowledge Fountain |
| record_format | dspace |
| source_str | AUC Knowledge Fountain — bepress |
| spelling | oai:fount.aucegypt.edu:etds-2291 Dynamic modeling and control of a Quadrotor using linear and nonlinear approaches Elkholy, Heba talla Mohamed Nabil With the huge advancements in miniature sensors, actuators and processors depending mainly on the Micro and Nano-Electro-Mechanical-Systems (MEMS/NEMS), many researches are now focusing on developing miniature flying vehicles to be used in both research and commercial applications. This thesis work presents a detailed mathematical model for a Vertical Takeo ff and Landing (VTOL) type Unmanned Aerial Vehicle(UAV) known as the quadrotor. The nonlinear dynamic model of the quadrotor is formulated using the Newton-Euler method, the formulated model is detailed including aerodynamic effects and rotor dynamics that are omitted in many literature. The motion of the quadrotor can be divided into two subsystems; a rotational subsystem (attitude and heading) and a translational subsystem (altitude and x and y motion). Although the quadrotor is a 6 DOF underactuated system, the derived rotational subsystem is fully actuated, while the translational subsystem is underactuated. The derivation of the mathematical model is followed by the development of four control approaches to control the altitude, attitude, heading and position of the quadrotor in space. The fi rst approach is based on the linear Proportional-Derivative-Integral (PID) controller. The second control approach is based on the nonlinear Sliding Mode Controller (SMC). The third developed controller is a nonlinear Backstepping controller while the fourth is a Gain Scheduling based PID controller. The parameters and gains of the forementioned controllers were tuned using Genetic Algorithm (GA) technique to improve the systems dynamic response. Simulation based experiments were conducted to evaluate and compare the performance of the four developed control techniques in terms of dynamic performance, stability and the effect of possible disturbances. 2014-06-01T07:00:00Z thesis application/pdf https://fount.aucegypt.edu/etds/1292 https://fount.aucegypt.edu/context/etds/article/2291/viewcontent/Heba_ElKholy_Thesis_S2014.pdf The author retains all rights with regard to copyright. The author certifies that written permission from the owner(s) of third-party copyrighted matter included in the thesis, dissertation, paper, or record of study has been obtained. The author further certifies that IRB approval has been obtained for this thesis, or that IRB approval is not necessary for this thesis. Insofar as this thesis, dissertation, paper, or record of study is an educational record as defined in the Family Educational Rights and Privacy Act (FERPA) (20 USC 1232g), the author has granted consent to disclosure of it to anyone who requests a copy. Theses and Dissertations AUC Knowledge Fountain Quadrotor helicopters Avrocar (VTOL airplane) |
| spellingShingle | Quadrotor helicopters Avrocar (VTOL airplane) Elkholy, Heba talla Mohamed Nabil Dynamic modeling and control of a Quadrotor using linear and nonlinear approaches |
| title | Dynamic modeling and control of a Quadrotor using linear and nonlinear approaches |
| title_full | Dynamic modeling and control of a Quadrotor using linear and nonlinear approaches |
| title_fullStr | Dynamic modeling and control of a Quadrotor using linear and nonlinear approaches |
| title_full_unstemmed | Dynamic modeling and control of a Quadrotor using linear and nonlinear approaches |
| title_short | Dynamic modeling and control of a Quadrotor using linear and nonlinear approaches |
| title_sort | dynamic modeling and control of a quadrotor using linear and nonlinear approaches |
| topic | Quadrotor helicopters Avrocar (VTOL airplane) |
| url | https://fount.aucegypt.edu/etds/1292 https://fount.aucegypt.edu/context/etds/article/2291/viewcontent/Heba_ElKholy_Thesis_S2014.pdf |
| work_keys_str_mv | AT elkholyhebatallamohamednabil dynamicmodelingandcontrolofaquadrotorusinglinearandnonlinearapproaches |