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Modelling and Control Design of Rover Vehicle Using Classic and Adaptive Control

Hassan Ali(1), Mohamed G. Abdelhady(2), Tarek N. Deif(3*)

(1) Teaching assistant, Cairo University, Aerospace Engineering Dept, Egypt
(2) Student in Aerospace Engineering Department, Cairo University, Egypt
(3) Teaching assistant, Cairo University, Aerospace Engineering Dept, Egypt
(*) Corresponding author


DOI: https://doi.org/10.15866/irease.v7i4.3099

Abstract


This paper presents the dynamics and control of a small-scale rover using custom-built frame, off-the-shelf avionics, motors and batteries. The modeling part incorporates the rotors dynamics and its motion. The modeling process includes analytical equations and experimental identification of different parameters which is difficult to be estimated analytically. The control part incorporates PD controller. A simulator of the complete system was built using Matlab and Simulink. The control code was written in C and was implemented in a PIC microcontroller. A prototype was built and tested with the selected controller to show good stabilization and good matching with the simulator.
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Keywords


Classic Control; PD Control; Adaptive; Rover

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References


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