Modeling And Control Of A Quad-rotor Unmanned Aerial Vehicle At Hovering Position

This thesis titled Modeling and Control of a Quad-rotor Unmanned Aerial vehicle at hoveringrnPosition by Ruth Tesfaye presents the study of modeling and control of quad-rotor UnmannedrnAerial vehicle (UAV) characteristics that could be used for any of its application.rnQuad-rotor UAVs consist of two pairs of counter rotating rotors placed at the end of a crossrnconfiguration; symmetrical body about the center of gravity that coincides with the origin of thernbody frame of reference. The Newton-Euler formulation has been used to derive the definingrnequations of motion of the system at hovering position i.e. the six degree-of-freedom. Based onrnthe verified model, control strategies were developed using linear PID controller and an LQRrncontroller. The PID controller was adopted as a reference control law from the work of A.ouladirn[1].rnA numerical simulation was then conducted using MATLAB® Simulink®. First, the derivedrnmodel was simulated to verify the behavior of the quad-rotor for model verification, and then arnsecond simulation was conducted to determine the effectiveness of the developed control law.rnThe results and the interpretations of this study are then presented and discussed on theirrnrespective areas.rnKey words: Quad-rotor, PID controller, LQR controller, Hovering position, equilibrium Point

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