Design and control OF X5 unmanned aerial robot

Noudeh, Mehran Ebadollahi
This thesis presents a mathematical model and an autopilot of a new type Unmanned AerialRobot(UAR)namedX5withafocusonVerticalTake-offandLanding(VTOL) systems. Physically,itconsistsofalargepropellertocarrythemainpayload,andfour small propellers for controlling the attitude. It presents a nonlinear 6 degrees of freedom (DOF) model of X5 based on Newton-Euler method for simulation and control. The mathematical model introduced in this work includes the rotor dynamics and detailed aerodynamic effects. TheautopilotofX5requiresspecialattentionbecauseofunsymmetricalactionofthe big propeller in the yaw plane. Three different autopilots have been developed and simulated based on the simplified mathematical model of X5. Proportional Derivative (PD) controller is the first technique developed for altitude, attitude and position control. The second controller designed is based on Proportional Integral Derivative (PID) controller. The third one is based on Lyapunov control theory. The performances of controllers have been evaluated and compared with simulation based experiments. Furthermore, all the relevant hardware components have been modeled which enable us to perform hardware-in-the-loop experiments. In the final part of this study, the suggested aerial robot, i.e., X5, has been designed physically and it is being constructed to perform real life experiments.


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Citation Formats
M. E. Noudeh, “Design and control OF X5 unmanned aerial robot,” M.S. - Master of Science, Middle East Technical University, 2015.