Modeling and Control of a Pollinator Flying Robot

Abstract

Pollination is an important factor of crops growth. Insufficient natural pollination is the cause of using artificial pollination as a complementary method. Using unmanned aerial vehicles is one of the novel methods for artificial pollination. In this paper, a developed quadrotor consisting of four motors is studied for walnut pollination. The robot is modeled to achieve a real control Simulation. The modeling and control of this quadrotor are parts of design and control design of our manufactured system. For dynamic simulation, robot model is built in ADAMS software. Then, for control design and performance analysis, MATLAB and ADAMS co_simulation is performed. In this co_simulation, rotor speeds are determined using the controller designed in MATLAB. Then, the dynamics response is determined through model calculations in ADAMS.