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Dynamic Modeling and Flight Control Design for Multicopter

Drilon Bunjaku(1*), Gorjan Nadzinski(2), Mile Stankovski(3), Jovan D. Stefanovski(4)

(1) 1Department of Informatics Engineering, FMCE at University of Mitrovica, Kosovo, Republic of
(2) Department of Automation & System Engineering, FEIT at Ss. Cyril & Methodius University, Skopje, Macedonia, the former Yugoslav Republic of
(3) Department of Automation & System Engineering, FEIT at Ss. Cyril & Methodius University, Skopje, Macedonia, the former Yugoslav Republic of
(4) Control & Informatics Div., JP ”Strezevo”, Bitola, Macedonia, the former Yugoslav Republic of
(*) Corresponding author


DOI: https://doi.org/10.15866/irease.v11i5.15512

Abstract


This paper presents a step by step dynamic modeling of the multicopter – quadcopter based on Newton Euler formalism, including the dynamics of the motor and the propellers. The linearization of the nonlinear mathematical model of the quadrotor is derived systematically when ψ ≠ 0. Consequently, the simulation model of the flight controller based on the cascade control has been designed, which ensures a stabilization of the quad rotor and a robust-like trajectory tracking performance. The proposed cascade control strategy including the outer inverse dynamics provides controlling of the yaw orientation angle. The comparison of the use of a linear cascade PID-PD and the combination of PID-MPC is performed on 3D referent trajectories tracking with and without the presence of periodic external torque disturbances. The results are obtained from the MATLAB simulation model.
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Keywords


Quadrotor Dynamics; Control System Design; Flight Controller; Trajectory Tracking

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References


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