Modelling and

Control of
New Directions in Risk and Safety
Quadrotor
Presented to Dr. Ali Nasir
Presented by:
Ahmad Khan – BSEE13009
Mansour Riaz – BSEE14063
Hassam Faiz – BSEE14065
Raza Ali – BSEE14066
Drone

Definition: an unmanned aircraft system; remote-controlled pilot-less

aircraft; flying thingy without people inside controlling it.

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Why Fly Drones?

Aerial photography

Digital archeology

Environmental analysis

Agricultural analysis

Gas mapping

Coastal surveys

Film/media

Law enforcement

Drone racing/ first person view

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What are Some Other Names of
Drones?

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What are Some Other Names of Drones?

• Quadcopter
• Multicopter
• Hexicopter

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Quadcopter
• Quadcopter is an aerial vehicle which is
operated to fly independently.
• It is a type of a small representation of
Unmanned Aerial Vehicle(UAV).
• A Quadcopter, also called a Quadrotor
helicopter, is a Multicopter that is lifted and
propelled by four rotors.
• Quadcopters are classified as rotorcraft, as
opposed to fixed-wing aircraft, because their
lift is generated by a set of revolving narrow-
chord airfoils.

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 Task-1

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 (a)
Draw the taxonomy of flying
vehicles based on method of
propulsion and flight
methodologies?

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Classification of Aircrafts

Aircrafts classified by weight

Small Unmanned Aircraft System < 55 lbs.

Large Unmanned Aircraft System > 10,000 lbs.

Micro Air Vehicles < 4.4 lbs.

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Classification Diagram

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 (b)
Explain briefly working principle and
basic physics of quadrotor.

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Working Principle & Basic Physics of Quadcopter

• Quadcopter is a device with a intense mixture of Electronics, Mechanical and

mainly on the principle of Aviation.
• The Quadcopter has 4 motors whose speed of rotation and the direction of
rotation changes according to the users desire to move the device in a
particular direction (i.e. Takeoff motion, Landing motion, Forward motion,
Backward motion, Left motion, Right motion. )
• The rotation of Motors changes as per the transmitted signal send from
transmitter.

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Working Principle & Basic Physics of Quadcopter Cont.

Take off Motion Landing Motion

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Working Principle & Basic Physics of Quadcopter Cont.

FORWARD MOTION BACKWARD MOTION

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Working Principle & Basic Physics of Quadcopter Cont.

RIGHT MOTION LEFT MOTION

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Visualization

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 (c)
Explain the following terms:
1. Roll
2. Pitch
3. Yaw

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Quadcopter Rotational Motion

• Pitch- rotation about the x axis.

Rotation about the pitch axis is like
tilting your head in order to look up or
down.
• Roll- rotation along the y axis.
Rotation about the roll axis is like
tilting your head towards one of your
shoulders
• Yaw- rotation about the z axis.
Rotation about the yaw axis is like
when you shake your head to say
“no.”

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 Pitch

• To Pitch Forwards (Towards us)

• The Power to the motors rear

motors is increased.

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 Roll

• To Roll towards the Left (Our

Left), the Thrust is increased on
the Motors on the Right.
To Roll Leftwards
• We also decrease the Thrust on
the motors on the Left.

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 Yaw

• To Yaw Clockwise we increase

the Thrust on the Anti-Clockwise
moving Motors.

• Decrease the Thrust on

Clockwise Rotating Motors.

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 (d)
List out and briefly explain the
components used for the
implementation of Quadrotor?

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 Quadcopter Anatomy

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Quadcopter Anatomy

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Quadcopter Anatomy

A. Props B. Motors

• Quadcopters typically consist of two • Quadcopters use motors to turn

puller and two pusher props propellers
• Pushers rotate in opposite direction • Brushed- cheaper but cheaper quality
of pullers to allow for flight • Brushless – typically higher quality;
• Also known as propellers, rotors more complicated;

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Quadcopter Anatomy

C. Electronic Speed Controller D. Flight Controller/ Autopilot

• Needed to control the brushless • Assists manual flights along with

motors some autonomous function
• Abbreviated ESC

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Quadcopter Anatomy

E. Airframe F. Battery Pack

• Consists of the housing enclosing • Powers the quadcopters electronics

the electronics, motor booms(arms), and keeps propellers turning
and platform • Often Lipo battery
• Also called “chassis”

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Quadcopter Anatomy

G. Camera Gimbal H. Landing Struts

• The rotating platform for the camera • Legs that the quadcopter rests on
• Allows user to angle the camera when it is grounded
during flight

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Quadcopter Anatomy

I. Front Indicator J. First-Person Video Camera

• Operators use different methods to • Camera that allows images to be

indicate the front of the UAV such as transmitted to the user
• LEDs
• Reflective material
• Different colored props

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Quadcopter Anatomy

K. Radio Receiver

• Translates the user’s instructions for

the flight controller

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 (e)
Explain the inertial and body fixed
coordinate system with respect to
quadrotor flight?

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Inertial & Body Fixed Frame of Reference

• The motion for translation as

well as rotation is all with
respect to the inertial frame
(e.g. the ground).

• In the body-fixed frame, the

coordinate system has its origin
at the center of mass.

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 Task-2
Find the state space equation of the
quadrotor and clearly label the
variables illustrating the physical
quantity shown by the variable?

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State Space Representation of Quadcopter

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Variables illustrating Physical Quantities

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Variables illustrating Physical Quantities Cont.

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 Task-3
Find the equilibrium points of the
given system and also determine the
stability property for each
equilibrium point (Assume all
control inputs to be zero).
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Equilibrium Point
• Equilibrium points are by definition, points on the
graph where the rate of change is zero.

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Equilibrium Point Cont.

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Stability Property of Equilibrium Point

• To Find the stability property of our equilibrium point we

first need the Jacobian or System Matrix ‘A’

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Stability Property of Equilibrium Point Cont.

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Stability Property of Equilibrium Point Cont.

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Stability Property of Equilibrium Point Cont.

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Stability Property of Equilibrium Point Cont.

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Stability Property of Equilibrium Point Cont.

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Stability Property of Equilibrium Point Cont.

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Stability Property of Equilibrium Point

• Then using MATLAB we will find the eigenvalues of our

system matrix A.

• The system matrix A is asymptotically stable if all its

eigenvalues are in the open left half plane

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Stability Property of Equilibrium Point (In-Progress)

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 Task-4
Utilize any two control techniques
studied in the Non-Linear Control
Course to design the control laws
for Quadrotor. Simulate your control
laws in MATALB.

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Dynamical System of Quadrotor (In-Progress)

• For a quad-rotor we require:

3 position coordinates & 3 orientation coordinates (angle w.r.t to each axis)
to represent the position and orientation of it. So we say that a quad-rotor
has 6DOF.

• Moreover, a quadrotor is an under actuated system since it has six degrees

of freedom (x,y,z,φ,θ,ψ) and only four inputs (U1, U2, U3, U4).

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 Dynamical System of Quadrotor (In-Progress)

The quadrotor can be viewed as

two independent subsystems:

1. Transitional movement
subsystem
2. Angular movement subsystem

Transitional motion does not affect

the angular motion, but the
angular motion affects the
transitional motion.
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References

• http://charlestytler.com/quadcopter-equations-motion/

• https://hackernoon.com/quadcopter-physics-explained-468ee44ba40b

• http://www.quadcopteracademy.com/quadcopter-parts-what-are-they-and-what-do-they-do

• https://www.youtube.com/watch?v=PkbkO3e0ev0

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 Thank You
Any Questions?

New Directions in Risk and Safety