Development of the controller for the quadcopter Finken in simulation enviroment VRep

Authors

  • Valeriy Petrovich Severin
  • Elena Nikolaevna Nikulina
  • Vladyslav Serhiiovych Buriakovskyi

DOI:

https://doi.org/10.20998/2079-0023.2016.37.02

Abstract

The problem of control of quadcopter Finken, that was created at department of Intellectual systems at Otto von Guericke University Magdeburg, was presented. The simulation environment VRep as 3D robot simulator was reviewed. The general mathematical model of copter was presented and the model of quadcopter Finken was created in VRep simulation environment. The principles of working continue and discrete PID controllers were described and analyzed. The models of motion of quadcopter Finken were reviewed and implemented in simulation environment VRep. The model of recommended PD controller for quadcopter Finken was described and implemented. The test flights were done and the stable flying motion of quadcopter was received. The conclusions about possible use such a model was made.

References

Mohd K. Quadcopter Flight Dynamics / K. Mohd // International journal of scientific & technology research. – 2014. – Volume 3, Issue 8. – P. 15–18.

K-Team Corporation. VREP Introduction. – Available at : http://www.k-team.com/mobile-robotics-products/v-rep. – Accessed : 20.05.2016.

Luukkonen T. Modelling and Control of Quadcopter / T. Luukkonenc – Espoo : Aalto University, 2011. – 26 p.

National Instruments. P.I.D. Explained. – Available at : www.ni.com/white-paper/3782/en. – Accessed : 10.05.2016.

Control tutorials for Matlab & Simulink. Introduction: PID Controller Design. – Available at : www.ctms.engin.umich.edu/CTMS/index.php?example=Introduction&section=ControlPID. – Accessed : 23.05.2016.

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How to Cite

Severin, V. P., Nikulina, E. N., & Buriakovskyi, V. S. (2017). Development of the controller for the quadcopter Finken in simulation enviroment VRep. Bulletin of National Technical University "KhPI". Series: System Analysis, Control and Information Technologies, (37), 9–12. https://doi.org/10.20998/2079-0023.2016.37.02

Issue

No. 37 (2016)

Section

SYSTEM ANALYSIS AND DECISION-MAKING THEORY

License

Copyright (c) 2017 Вісник Національного технічного університету «ХПІ». Серія: Системний аналiз, управління та iнформацiйнi технологiї

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