Mini Drone Linear and Nonlinear Controller System
Design and Analyzing
الباحث الأول:
Esraa H. Kadhim
الباحثين الآخرين:
Ahmad T. Abdulsadda
المجلة:
Journal of Robotics and Control (JRC)
Volume 3, Issue 2, March 2022
ISSN: 2715-5072 DOI: 10.18196/
تاريخ النشر:
None
مختصر البحث:
Abstract—Choosing the mini-drone for a specific
payload for designing purposes is one of the most
challenging for both cost and design purposes. It is
important to develop and analyze the flight control
systems of the quadcopter-type Parrot …
Abstract—Choosing the mini-drone for a specific
payload for designing purposes is one of the most
challenging for both cost and design purposes. It is
important to develop and analyze the flight control
systems of the quadcopter-type Parrot mini drone and
how to make the drones more tolerant of adverse
weather conditions. The main problem with any
quadcopter is that it loses its balance when exposed to
any external influence, even if that influence is weak.
Where the controller is the most important part of the
drone, six plane controllers cover the six degrees of
freedom (6dof) in the movement of the drone. In our
research, we have improved the height controller in the
drone, thus improving the altitude controller by using
(PD) and increasing the values of (Kp and Kd) in the
altitude controller of the Parrot Mini Drone Mambo to
make it more bearable to external influence and to
maintain its altitude. We assumed that the aircraft was
exposed to bad weather conditions, such as snowfall and
dust, which led to an increase in the speed at which the
drone fell. We also increased the free fall constant of the
object in the simulation design of the drone from (-9.81
m/s2
to -12.81 m/s2
) and used Matlab R2021a Simulink to
undertake the tuning of the (Kp and Kd) values. This
study yielded good results, as illustrated in the results
section. Therefore, this research paper suggests adopting
the PD controller in the altitude controller and the new
values of Kp and Kd to make the drone more tolerant of
weather conditions. We tested these results in practice
and got good results.
