Control of Quadrotor

Master Project

Yessica Rosas Cuevas

2019
Outline

State of art

Modeling

Simulation

Testing

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Unmanned Aerial Vehicle I
Forces

Thrust the forward force produced by the power plant/propeller or rotor.

Drag a reward, retarding force caused by disturbion or airflow by the wing,
rotor. Drag opposes thrust and act rearwards parallel to the relative wind.
Weight thee combined load of the aircraft itself. It opposes lift and acts
vertically downward through the quadrotors center of gravity (CG)

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Unmanned Aerial Vehicle
Payload

UAV has limited payload by volume and weight capacity. These limitations
carry on several additional constraints as power.

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Introduction
Size

MAVs Micro or Miniature Air Vehicles

Type Weight range NAVs Nano Air Vehicles
Nano drones W ≤ 200g
Micro drones 200 < W ≤ 2kg VTOL Vertical Take-off and Landing
Mini drones 2kg < W ≤ 20kg HTOL Horizontal take-off and landing
Small drones 20kg < W ≤ 150kg
Tactical drones 150kg < W ≤ 600kg LASE Low Altitude, short-endurance
MALE/HALE W > 600kg
LALE Low Altitude, long-endurance
The proposed drones’ categorization by Brooke-Holland.
MALE Medium altitude, long-
endurance
HALE High altitude, long-endurance

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Types

Fixed-wing

Rotary-wing

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Modeling
Rigid body

Inertial frame is fixed reference frame and it is fixed to the Earth.

ξ = [x, y , z]T

η = [φ, θ, ψ]T
Body frame is fixed to the quadrotor body and it translates and rotates with
the body. The origin of the body fixed reference frame coincides with the
CoG of the quadrotor.
ω = [p, q, r ]T
Vb = [u, v , w ]T

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Modeling
Rotation matrix

The order of rotations are important and in this thesis, the common order of
roll,pith, yaw (φ, θ, ψ) will be used. The relationship between them is by makin
three succesive transformations:
     
1 0 0 c(θ) 0 s(θ) c(ψ) −s(ψ) 0
R(φ) = 0 c(φ) −s(φ) R(θ) =  0 1 0  R(ψ) =  s(ψ) c(ψ) 0
0 s(φ) c(φ) −s(θ) 0 c(θ) 0 0 1

RIb = R(φ) ∗ R(θ) ∗ R(ψ)

 
c(ψ)c(θ) c(ψ)s(θ)s(φ) − s(ψ)c(φ) c(ψ)s(θ)c(φ) + s(ψ)s(φ)
RIb =  s(ψ)c(θ) s(ψ)s(θ)s(φ) + c(ψ)c(φ) s(ψ)s(θ)c(φ) − c(ψ)s(φ)
−s(θ) c(θ)s(φ) c(θ)c(φ)

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Modeling
Simplifying assumptions

The overall mass of the system is constant.

The moment of inertia of the system is constant.
The origin of the body frame coincides with the center of gravity of the
rigid body.
The airframe is symmetry:
 
Jx 0 0
R(φ) =  0 Jy 
0 0 Jz

Each motor is aligned along the body-frame and its thrust vector
originates in the plane of CoG.

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Modeling
State varibles

x inertial position along x.

y inertial position along y.
z inertial altitude, measured along z.
φ roll angle
θ pitch angle
ψ yaw angle
u body frame linear velocity along x.
v body frame linear velocity along y.
w body frame linear velocity along z.
p roll rate
q pitch rate
r yaw tare

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Modeling I
Position and Attitude
Lets Vb and VI be the components of the translational velocity of quadrotor in
frames Fb and FI . Then, by using rotation matrix, one can obtain Vb as follows:
Vb = RIb VI
−1
VI = RIb Vb
As all rotation matrices are orthogonal, then R is also orthogonal.
−1 T
RIb = RIb
VI is translational velocity of quadrotor relative to reference frame FI and
expressed in reference frame FI .
VI = ξ˙ = [ẋ, ẏ , ż]T

1 s(φ)t(θ) c(φ)t(θ)
     
φ̇ p
 θ̇  = 0 c(φ) −s(φ)  q 
s(φ) c(φ)
ψ̇ 0 c(θ) c(θ) r

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Modeling

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Modeling
Newton-Euler Equation

ż = Vb
1
V˙b = (g ez − T R)
m
Ṙ = R S(Ω)
1
Ω̇ = (−Ω × J Ω − τ )
J
Where:  
0 −k3 k2
S(k) = −S T (k) =  k3 0 −k1 
−k2 k1 0

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Matlab

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ROS

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ROS

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ROS

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Testing

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References

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