کنفرانس مهندسی برق ایران

صفحه اصلی / بیست و نهمین کنفرانس مهندسی برق ایران

Significant Methods to Improve Control of Quadrotors, Hexarotors and Octorotors

نویسندگان :

Peyman Amiri¹ Nima Sina² Mohammad Danesh³

1- Isfahan University of Technology 2- Najaf Abad Branch, Islamic Azad University 3- Isfahan University of Technology

کلمات کلیدی :

Quadrotor , Hexarotor , Octorotor , Multirotor , Control Strategy , Bounding

چکیده :

This article presents important strategies and tips for quadrotors, octorotors, and hexarotors controllers to improve their performance. At first, a method is introduced to consider the outputs of the outer loop controller as forces then obtain the desired angles from these forces. As limiting the angles of multirotors is critical and important to their stability and has never been discussed before, a process of bounding these forces is presented to maintain the multirotor in its angle ranges and make the multirotor more stable by avoiding making the multirotor reverse. Simulations are done for all these methods for different controllers. Their performances are analyzed mathematically and compared to common methods of limiting the angles and anti-windup strategies. Also, the implementation of these strategies and methods are presented in algorithm form.