Dynamic modeling, simulation and PID controller of unmanned aerial vehicle UAV
Résumé
This paper is focused on modeling and control of quadrotor; first modeling of moments and torque, second is of rotor, the result is the complete dinamincs of UAV. mathematical model is presented for a general study with disturbance and we take account all parameters of control. the PID controller is presented without disturbance in dynamics equation for a linear model, where we can used in the control of a group of quadrotors for obstacle avoidance, and a group of quadrotors with a rigid and flexible links for transporting payloads in the free environment. finaly our results is simulated in the simulink and the virtual reality environment.
Domaines
Automatique / RobotiqueOrigine | Fichiers produits par l'(les) auteur(s) |
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