Controller Design and Analysis for Octorotor UAVs

Mohamad Alansari, Ahmed Elshamy, Ahmed Abughali, Khalid Alhammadi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Radar applications that include emergency rescues and natural disasters damage evaluations are critical and difficult to be done by humans. It was proposed to use small Unmanned Aerial Vehicles (UAVs) in such applications because a UAV does not require a human pilot in it. In this work, an Octorotor with an altitude and attitude controller and observer are designed to control the vertical take-off and landing of the Octorotor is proposed. In addition, after reaching a certain altitude, a trajectory controller is designed using linear quadratic regulator (LQR) controller to move the Octorotor in x-, y-directions and to allow a translational movement at a constant velocity. Finally, a simulation was done to experiment the behaviour of the system under wind disturbance. A linearized model was extracted from the nonlinear model of the Octorotor. The results of both controllers clearly outperformed previous work. The model results were obtained via MATLAB/Simulink.

Original languageBritish English
Title of host publication2022 International Conference on Electrical and Computing Technologies and Applications, ICECTA 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages103-108
Number of pages6
ISBN (Electronic)9781665456005
DOIs
StatePublished - 2022
Event2022 International Conference on Electrical and Computing Technologies and Applications, ICECTA 2022 - Ras Al Khaimah, United Arab Emirates
Duration: 23 Nov 202225 Nov 2022

Publication series

Name2022 International Conference on Electrical and Computing Technologies and Applications, ICECTA 2022

Conference

Conference2022 International Conference on Electrical and Computing Technologies and Applications, ICECTA 2022
Country/TerritoryUnited Arab Emirates
CityRas Al Khaimah
Period23/11/2225/11/22

Keywords

  • Altitude and attitude
  • Full-state Controller
  • Linear Quadratic Regulator
  • Observer
  • Octorotor
  • Radar application
  • Trajectory tracking
  • Unmanned aerial vehicle

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