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Quadrotor Digital PID Control System and Dynamics Modelling

Posted by James Goppert on March 16, 2011 at 4:30pm

A digital control system model of the pixhawk quadrotor was constructed in scicoslab along with a continuous model of the quadrotor dynamics (the visual model is an arducopter). The user can input the guidance commands to the autopilot through sliders. As the video shows, the yaw response it not optimal, which also happens in the actual system. Using the mavsim Scicoslab toolbox (https://github.com/openmav/mavsim/) , the model can be simulated and then, once the system has been correctly identified, the dynamics can be linearized. The linear model of the system makes the problematic modes clear and aids in designing an improved controller.

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  • Developer
    James Goppert March 19, 2011 at 12:28pm
    @ UFO-MAN, a virtual machine running the latest ubuntu or debian release is your best bet right now. We have mac almost working on cmake and mingw version for windows could be possible if we get some more interest.
  • Kostas Alexis March 19, 2011 at 4:38am

    @ Hyon_Lim

    I have experimentally implemented MPC in Quadrotors. You are right about the computational complexity but this is something that can be accomplished using model embedded CPUs. 

     

    @James Goppert

    I'll send you some articles on the topic of optimal parameter selection. Give me one day to collect. 

  • Hyon Lim March 19, 2011 at 3:54am

    Hi UFO-MAN.

    Yes. That paper is right. But you should note that the paper does not include about MPC.

    The reason why I recommend that paper is to experiment various control algorithm.

  • Birdeye March 19, 2011 at 3:36am
    Cool Project.

    http://birdeye.dk
  • UFO-MAN March 19, 2011 at 2:16am

    Hi Hyon, is it this paper (Full control of a Quadrotor) http://www.scribd.com/doc/35698632/BL-Full-Control-of-a-Quadrotor you are reffering to in your above post?

     

    Is it possible to run Scicos with the Mavsim toolbox on Windows or do I as an alternative have to run it on a virtual Machine running on XP with Linux as the guest OS? (I would like to have access to it on my Windows box). 

     

    ufo_man

  • Hyon Lim March 18, 2011 at 5:14pm

    For the model predictive control, maciejowski's book is the best.

    However, I think it is impossible to apply MPC in quadrotor, because the computation load is high.

    Usually, control input is generated by solving Quadratic Programming (QP). Not easy to implement it in C.

    And the model accuracy will be far from true model.

    Linearization point. That's good. But, seems not easy to implement.

     

    For the papers, Full control of a Quadrotor paper is good starting point.

  • Hyon Lim March 18, 2011 at 5:10pm

    Hi. This is very interesting work. Our group also working on the modeling of quadrotor.

    However, how did you measure the Ixx,Iyy,Izz of the quadrotor? Using solidworks?

    and can I have your e-mail address to contact further?

     

    And can I see the model equation that you used?

  • Developer
    James Goppert March 18, 2011 at 3:38pm
    Sounds interesting. Any good papers you can point me to?
  • Kostas Alexis March 18, 2011 at 2:44am
    Well you could optimally select the different linearization points and guarantee smooth transition through Linear Matrix Inequality optimization. I have worked on something similar using Model Predictive Control on Quadrotors. I will check your code - thanks James!
  • Matthew Coleman March 17, 2011 at 3:44pm

    Now I am completely out of my depth but I did ask for it..

     

This reply was deleted.