This thesis work focus on quadcopter development and simulation of autonomous flight. A quadcopter is a helicopter with four fixed pitch rotors; it is nimble and has a highly maneuverable vertical takeoff and landing system with electronic stability argumentation system. It is known for as an unmanned aerial vehicle (UAV) autonomous flight from one place to another in unknown surroundings, adapting to its surroundings along with obstacles has been a complex task. This thesis introduces trajectory correction control with feedback proportional integral derivative control structure for the system to autonomously reach from point A to point B avoiding obstacles in unknown surroundings and follow an input flight path. The quadcopter is designed to operate with minimum equipment, to minimize the cost; makes it feasible for expandable asset. The system is independent of external communications and works without global positioning system (GPS). The goal of this thesis is to develop a virtual test bench to be useful for the further use or development of autonomous and semi-autonomous quadrotor unmanned aerial vehicle with various utilities. The mathematical model of the quadrotor is formed using Newton-Euler and Euler-Lagrange equations. The simulation is developed in MATLAB, Simulink programming language with virtual reality. The system is validated with various simulation scenarios. KEYWORDS: quadrotor, modeling, control systems, Matlab, Simulink, quadcopter simulation, UAV, UAS, VRML, autonomous fight simulation
Modeling, control, and simulation of a quadcopter
01.05.2016
Sonstige
Elektronische Ressource
Englisch
DDC: | 629 |
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