Dynamics modelling and implementation of an attitude control on an Octorotor

Payam Zarafshan; S. Jamal Haddadi; Farahnaz J. Niroumand

doi:10.1109/CCECE.2015.7129364

Dynamics modelling and implementation of an attitude control on an Octorotor

Payam Zarafshan, S. Jamal Haddadi, Farahnaz J. Niroumand

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

14 Citations (Scopus)

Abstract

In this paper, an attitude controller is implemented and studied on an Octorotor flying robot. In this Unmanned Aerial Vehicle (UAV), motors number is extended to eight motors. Also, mechanical and electrical subsystems is designed and performed based on the considered Quadrotor. To this end, the robot stability is obtained using the stated controller. Then, this flying robot is tested under the flight condition on a test apparatus. For monitoring the Attitude angles of this UAV, a PID controller is utilized using Mission Planner software by USB port. Finally, Implementation and simulation results are compared for the designed attitude controller in MATLAB/Simulink.

Original language	English
Title of host publication	2015 IEEE 28th Canadian Conference on Electrical and Computer Engineering, CCECE 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	722-727
Number of pages	6
Edition	June
ISBN (Electronic)	9781479958276
DOIs	https://doi.org/10.1109/CCECE.2015.7129364
Publication status	Published - 2015
Externally published	Yes
Event	2015 28th IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2015 - Halifax, Canada Duration: 3 May 2015 → 6 May 2015

Publication series

Name	Canadian Conference on Electrical and Computer Engineering
Number	June
Volume	2015-June
ISSN (Print)	0840-7789

Conference

Conference	2015 28th IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2015
Country/Territory	Canada
City	Halifax
Period	3/05/15 → 6/05/15

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

Keywords

Attitude Control
Octorotor
PID Controller
Stabilization

Access to Document

10.1109/CCECE.2015.7129364

Cite this

Zarafshan, P., Haddadi, S. J., & Niroumand, F. J. (2015). Dynamics modelling and implementation of an attitude control on an Octorotor. In 2015 IEEE 28th Canadian Conference on Electrical and Computer Engineering, CCECE 2015 (June ed., pp. 722-727). Article 7129364 (Canadian Conference on Electrical and Computer Engineering; Vol. 2015-June, No. June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCECE.2015.7129364

Zarafshan, Payam ; Haddadi, S. Jamal ; Niroumand, Farahnaz J. / Dynamics modelling and implementation of an attitude control on an Octorotor. 2015 IEEE 28th Canadian Conference on Electrical and Computer Engineering, CCECE 2015. June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 722-727 (Canadian Conference on Electrical and Computer Engineering; June).

@inproceedings{a8a9b98c3396436eb7546eee7aafc65a,

title = "Dynamics modelling and implementation of an attitude control on an Octorotor",

abstract = "In this paper, an attitude controller is implemented and studied on an Octorotor flying robot. In this Unmanned Aerial Vehicle (UAV), motors number is extended to eight motors. Also, mechanical and electrical subsystems is designed and performed based on the considered Quadrotor. To this end, the robot stability is obtained using the stated controller. Then, this flying robot is tested under the flight condition on a test apparatus. For monitoring the Attitude angles of this UAV, a PID controller is utilized using Mission Planner software by USB port. Finally, Implementation and simulation results are compared for the designed attitude controller in MATLAB/Simulink.",

keywords = "Attitude Control, Octorotor, PID Controller, Stabilization",

author = "Payam Zarafshan and Haddadi, {S. Jamal} and Niroumand, {Farahnaz J.}",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 2015 28th IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2015 ; Conference date: 03-05-2015 Through 06-05-2015",

year = "2015",

doi = "10.1109/CCECE.2015.7129364",

language = "English",

series = "Canadian Conference on Electrical and Computer Engineering",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "June",

pages = "722--727",

booktitle = "2015 IEEE 28th Canadian Conference on Electrical and Computer Engineering, CCECE 2015",

edition = "June",

}

Zarafshan, P, Haddadi, SJ & Niroumand, FJ 2015, Dynamics modelling and implementation of an attitude control on an Octorotor. in 2015 IEEE 28th Canadian Conference on Electrical and Computer Engineering, CCECE 2015. June edn, 7129364, Canadian Conference on Electrical and Computer Engineering, no. June, vol. 2015-June, Institute of Electrical and Electronics Engineers Inc., pp. 722-727, 2015 28th IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2015, Halifax, Canada, 3/05/15. https://doi.org/10.1109/CCECE.2015.7129364

Dynamics modelling and implementation of an attitude control on an Octorotor. / Zarafshan, Payam; Haddadi, S. Jamal; Niroumand, Farahnaz J.
2015 IEEE 28th Canadian Conference on Electrical and Computer Engineering, CCECE 2015. June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. p. 722-727 7129364 (Canadian Conference on Electrical and Computer Engineering; Vol. 2015-June, No. June).

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

TY - GEN

T1 - Dynamics modelling and implementation of an attitude control on an Octorotor

AU - Zarafshan, Payam

AU - Haddadi, S. Jamal

AU - Niroumand, Farahnaz J.

PY - 2015

Y1 - 2015

N2 - In this paper, an attitude controller is implemented and studied on an Octorotor flying robot. In this Unmanned Aerial Vehicle (UAV), motors number is extended to eight motors. Also, mechanical and electrical subsystems is designed and performed based on the considered Quadrotor. To this end, the robot stability is obtained using the stated controller. Then, this flying robot is tested under the flight condition on a test apparatus. For monitoring the Attitude angles of this UAV, a PID controller is utilized using Mission Planner software by USB port. Finally, Implementation and simulation results are compared for the designed attitude controller in MATLAB/Simulink.

AB - In this paper, an attitude controller is implemented and studied on an Octorotor flying robot. In this Unmanned Aerial Vehicle (UAV), motors number is extended to eight motors. Also, mechanical and electrical subsystems is designed and performed based on the considered Quadrotor. To this end, the robot stability is obtained using the stated controller. Then, this flying robot is tested under the flight condition on a test apparatus. For monitoring the Attitude angles of this UAV, a PID controller is utilized using Mission Planner software by USB port. Finally, Implementation and simulation results are compared for the designed attitude controller in MATLAB/Simulink.

KW - Attitude Control

KW - Octorotor

KW - PID Controller

KW - Stabilization

UR - http://www.scopus.com/inward/record.url?scp=84938301094&partnerID=8YFLogxK

U2 - 10.1109/CCECE.2015.7129364

DO - 10.1109/CCECE.2015.7129364

M3 - Conference Paper

T3 - Canadian Conference on Electrical and Computer Engineering

SP - 722

EP - 727

BT - 2015 IEEE 28th Canadian Conference on Electrical and Computer Engineering, CCECE 2015

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2015 28th IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2015

Y2 - 3 May 2015 through 6 May 2015

ER -

Zarafshan P, Haddadi SJ, Niroumand FJ. Dynamics modelling and implementation of an attitude control on an Octorotor. In 2015 IEEE 28th Canadian Conference on Electrical and Computer Engineering, CCECE 2015. June ed. Institute of Electrical and Electronics Engineers Inc. 2015. p. 722-727. 7129364. (Canadian Conference on Electrical and Computer Engineering; June). doi: 10.1109/CCECE.2015.7129364

Dynamics modelling and implementation of an attitude control on an Octorotor

Abstract

Publication series

Conference

Bibliographical note

Keywords

Access to Document

Other files and links

Fingerprint

Cite this