| Title: | GS10-5 Evaluation the Performance of a New Quadrotor Model Based on the Arm's Length Variation |
|---|---|
| Publication: | ICAROB2016 |
| Volume: | 21 |
| Pages: | 155-160 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2016.GS10-5 |
| Author(s): | Yasameen Kamil N., D. Hazry, Khairunizam Wan, Zuradzman M.Razlan |
| Publication Date: | January 29, 2016 |
| Keywords: | arm's length, PID controller, quadrotor, trajectory tracking, UAV |
| Abstract: | The field of UAV has exceptional level of growth; in addition it is predictable to be one of the most prevalent fields of development and research in future. The unmanned aerial vehicle (UAV)- quadrotor widely used as a service robotic in several fields. This paper presents a new design of this miniature aerial vehicle in altitude and attitude movements, based on varying the arm's length of quadrotor instead of varying the speed of motors to obtain a rotation around each axes. The length of arms varying are achieved by fixing a stepper motor in each arm of quadrotor to increase or decrease the length of these arms according to controller command for attitude movement. The controller commands are accomplished by designing a PID controller with specific parameters to maintain the stability of the quadrotor in the flight path. A MATLAB software code used to evaluate the simulation results and demonstrate the ability of the proposed design to perform a mission. |
| PDF File: | https://alife-robotics.co.jp/members2016/icarob/data/papers/GS/GS10-5.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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