Simulation of Nonlinear Proportional Integral Derivative Controller for a Nonlinear Model of a HexSoon EDU 450 Quadrotor Aerial Robot

Abstract

This paper is written in conjunction with the research for developing the control schemes for a model of quadrotor unmanned aerial vehicle based on actual hardware. The primary aim is to reflect the outcomes of designing nonlinear control algorithms for in-situ hardware equipment where the physical parameters have been determined through direct measurement and estimation. A comprehensive study of the trajectory tracking and control capabilities of Non-linear Proportional Integral Derivative control on a derived non-linear model of the quadrotor system is presented. The system mathematical model is obtained with the help of the nonlinear dynamics of the quadcopter which is derived with the help of Newton-Euler formulations. Thus, the model obtained includes the aerodynamic effects and the rotor dynamics of the quadrotor. Simulations were used for evaluating and comparing the performances of the two control techniques developed between their dynamic performances and stability.