Controller Design and Analysis for Octorotor UAVs

Mohamad Alansari; Ahmed Elshamy; Ahmed Abughali; Khalid Alhammadi

doi:10.1109/ICECTA57148.2022.9990041

Controller Design and Analysis for Octorotor UAVs

Mohamad Alansari
, Ahmed Elshamy
, Ahmed Abughali
, Khalid Alhammadi

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

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 language	British English
Title of host publication	2022 International Conference on Electrical and Computing Technologies and Applications, ICECTA 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	103-108
Number of pages	6
ISBN (Electronic)	9781665456005
DOIs	https://doi.org/10.1109/ICECTA57148.2022.9990041
State	Published - 2022
Event	2022 International Conference on Electrical and Computing Technologies and Applications, ICECTA 2022 - Ras Al Khaimah, United Arab Emirates Duration: 23 Nov 2022 → 25 Nov 2022

Publication series

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

Conference

Conference	2022 International Conference on Electrical and Computing Technologies and Applications, ICECTA 2022
Country/Territory	United Arab Emirates
City	Ras Al Khaimah
Period	23/11/22 → 25/11/22

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 11 Sustainable Cities and Communities

Keywords

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

Access to Document

10.1109/ICECTA57148.2022.9990041

Cite this

Alansari, M., Elshamy, A., Abughali, A., & Alhammadi, K. (2022). Controller Design and Analysis for Octorotor UAVs. In 2022 International Conference on Electrical and Computing Technologies and Applications, ICECTA 2022 (pp. 103-108). (2022 International Conference on Electrical and Computing Technologies and Applications, ICECTA 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICECTA57148.2022.9990041

Alansari, Mohamad ; Elshamy, Ahmed ; Abughali, Ahmed et al. / Controller Design and Analysis for Octorotor UAVs. 2022 International Conference on Electrical and Computing Technologies and Applications, ICECTA 2022. Institute of Electrical and Electronics Engineers Inc., 2022. pp. 103-108 (2022 International Conference on Electrical and Computing Technologies and Applications, ICECTA 2022).

@inproceedings{a4980fbefa564310988a4e7736f3724f,

title = "Controller Design and Analysis for Octorotor UAVs",

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.",

keywords = "Altitude and attitude, Full-state Controller, Linear Quadratic Regulator, Observer, Octorotor, Radar application, Trajectory tracking, Unmanned aerial vehicle",

author = "Mohamad Alansari and Ahmed Elshamy and Ahmed Abughali and Khalid Alhammadi",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 2022 International Conference on Electrical and Computing Technologies and Applications, ICECTA 2022 ; Conference date: 23-11-2022 Through 25-11-2022",

year = "2022",

doi = "10.1109/ICECTA57148.2022.9990041",

language = "British English",

series = "2022 International Conference on Electrical and Computing Technologies and Applications, ICECTA 2022",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Alansari, M, Elshamy, A, Abughali, A & Alhammadi, K 2022, Controller Design and Analysis for Octorotor UAVs. in 2022 International Conference on Electrical and Computing Technologies and Applications, ICECTA 2022. 2022 International Conference on Electrical and Computing Technologies and Applications, ICECTA 2022, Institute of Electrical and Electronics Engineers Inc., pp. 103-108, 2022 International Conference on Electrical and Computing Technologies and Applications, ICECTA 2022, Ras Al Khaimah, United Arab Emirates, 23/11/22. https://doi.org/10.1109/ICECTA57148.2022.9990041

Controller Design and Analysis for Octorotor UAVs. / Alansari, Mohamad; Elshamy, Ahmed; Abughali, Ahmed et al.
2022 International Conference on Electrical and Computing Technologies and Applications, ICECTA 2022. Institute of Electrical and Electronics Engineers Inc., 2022. p. 103-108 (2022 International Conference on Electrical and Computing Technologies and Applications, ICECTA 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Controller Design and Analysis for Octorotor UAVs

AU - Alansari, Mohamad

AU - Elshamy, Ahmed

AU - Abughali, Ahmed

AU - Alhammadi, Khalid

PY - 2022

Y1 - 2022

N2 - 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.

AB - 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.

KW - Altitude and attitude

KW - Full-state Controller

KW - Linear Quadratic Regulator

KW - Observer

KW - Octorotor

KW - Radar application

KW - Trajectory tracking

KW - Unmanned aerial vehicle

UR - https://www.scopus.com/pages/publications/85146369103

U2 - 10.1109/ICECTA57148.2022.9990041

DO - 10.1109/ICECTA57148.2022.9990041

M3 - Conference contribution

AN - SCOPUS:85146369103

T3 - 2022 International Conference on Electrical and Computing Technologies and Applications, ICECTA 2022

SP - 103

EP - 108

BT - 2022 International Conference on Electrical and Computing Technologies and Applications, ICECTA 2022

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2022 International Conference on Electrical and Computing Technologies and Applications, ICECTA 2022

Y2 - 23 November 2022 through 25 November 2022

ER -

Alansari M, Elshamy A, Abughali A, Alhammadi K. Controller Design and Analysis for Octorotor UAVs. In 2022 International Conference on Electrical and Computing Technologies and Applications, ICECTA 2022. Institute of Electrical and Electronics Engineers Inc. 2022. p. 103-108. (2022 International Conference on Electrical and Computing Technologies and Applications, ICECTA 2022). doi: 10.1109/ICECTA57148.2022.9990041

Controller Design and Analysis for Octorotor UAVs

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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