Control of quadrotor by using state-dependent Riccati equation method and analyzing its dynamic performance under wind field

Document Type : Research Article

Authors

1 Aerospace Engineering Department, Amirkabir Universiy of technology, Tehran, Iran

2 Aerospace Dept,Amirkabir Univ. of Technology,Tehran,Iran

Abstract

In recent decades, quadrotors are considered, because of the special missions and reducing the cost of flight operation. In this paper, three flight missions are defined to the quadrotor for shooting the special area. Attitude control of quadrotor is analyzed on basis of state-dependent Riccati equation. In the first mission, an experimental sample is taken in order to find the Euler angles for the implementation of routes. The sample quadrotor is on basis of the proportional–derivative controller. For this purpose, results of simulation base on proportional–derivative controller are conducted and the results are validated by state-dependent Riccati equation controller method. In the second and the third missions, the quadrotor is given maneuver by state-dependent Riccati equation method and flies in more complex routes such as square and round to cover more surface. Considering external wind fieldis the important parameter for the mention missions. The feasibility of these missions related to quadrotor stability and guaranteed security in wind field, for this purpose, the influence of force and moment of the wind field is applied to equations of motion of quadrotor. Dynamic performance of quadrotor is investigated for proportional–derivative, linear quadratic regulator and state-dependent Riccati equation methods encountering wind field.
 

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Main Subjects

References

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Amirkabir Journal of Mechanical Engineering
Volume 53, Issue 4 (Special Issue)
July 2021
Pages 2423-2438

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