Modeling and Control of a Quad-rotor Unmanned Aerial Vehicle at Hovering Position

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Addis Ababa University


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



Quad-Rotor, PID Controller, LQR Controller, Hovering Position, Equilibrium Point