This thesis presents dynamic modelling and design of controller for improving trajectory tracking of Hexacopter. Hexacopter is currently a popular unmanned aerial vehicle (UAV); it is used in versatile activities like security, aerial filming, fire-fighting, pesticide spraying and delivery of goods. In this work, the nonlinear dynamic modeling of Hexacopter is formulated by using Newton Euler modeling equations. Hexacopter is a six degree of freedom aerial robot in which it has three translational (x, y and z) and three rotational (ϕ, θ and ψ) components. It has a highly nonlinear, unstable and coupled dynamics. It is an under actuated system in which there are four control inputs and six outputs. After modeling the dynamics of the system sliding mode controller (SMC) is designed to control the motion in six-coordinates of Hexacopter in space; implemented for stabilization of internal dynamics and external dynamics. Besides, the reference trajectory is generated and track this trajectory by implementing SMC controller with minimum possible error. Finally, the thesis presents simulation results for controller action and trajectory tracking by employing MATLAB Simulink. The results shows that the controller follows the reference, in all the coordinates, with in an average of 0.5 seconds after simulation starts.
DYNAMIC MODELING AND TRAJECTORY TRACKING CONTROL OF HEXACOPTER USING SLIDING MODE CONTROLLER
15.01.2019
doi:10.20372/nadre:1550569404.17
Hochschulschrift
Elektronische Ressource
Englisch
DDC: | 629 |
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