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Research Papers

Dynamics Modeling and Trajectory Tracking Control of a Quadrotor Unmanned Aerial Vehicle

[+] Author and Article Information
Xilun Ding

Robotics Institute,
Beihang University,
Beijing 100191, China
e-mail: xlding@buaa.edu.cn

Xueqiang Wang

Robotics Institute,
Beihang University,
Beijing 100191, China
e-mail: xqwang@buaa.edu.cn

Yushu Yu

Robotics Institute,
Beihang University,
Beijing 100191, China
e-mail: yushuyu@buaa.edu.cn

Changliu Zha

Robotics Institute,
Beihang University,
Beijing 100191, China
e-mail: zhachangliu@sohu.com

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received December 29, 2015; final manuscript received August 31, 2016; published online November 9, 2016. Assoc. Editor: Yongchun Fang.

J. Dyn. Sys., Meas., Control 139(2), 021004 (Nov 09, 2016) (11 pages) Paper No: DS-15-1655; doi: 10.1115/1.4034691 History: Received December 29, 2015; Revised August 31, 2016

Nowadays, the quadrotor is becoming a popular platform in the academic field and the commercial area. Many prototypes have been developed for different applications. In this paper, we present the design and development of a quadrotor system with the function of aerial surveillance for trajectory tracking. Kinematics and dynamics models of the quadrotor are given by Newton–Euler method. A nonlinear controller based on trajectory linearization control approach is designed to stabilize the quadrotor. This controller is divided into two parts as the guidance controller and the attitude controller, which control the translational motion and rotational motion, respectively. A quadrotor prototype is developed to implement the controller. A control strategy is provided for the autonomous flight with procedures of mission planning, trajectory generation, control, and hardware. Simulation tests are used to validate the robustness and the performance of the controller. Several flight experiments have been implemented outdoors. The simulation and experimental results show that the proposed controller performs well in trajectory tracking mission, and the appointed functions of this quadrotor system also work well.

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Figures

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Fig. 1

The coordinate system of the quadrotor

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Fig. 3

The developing prototype of the quadrotor platform equipped with camera

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Fig. 4

Architecture of the guidance, navigation, and control system for the quadrotor system

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Fig. 2

Diagram of the 6DOF flight controller for the quadroto (see the Nomenclature section for subscript meanings).

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Fig. 5

Comparative simulation results of position control

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Fig. 7

Simulation results of the position control in trajectory tracking with disturbances. The dashed-dotted lines mean the command value, the solid lines show the sensing information, and the following figures are described in the same way.

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Fig. 24

The experimental results of position in safety procedure

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Fig. 25

The experimental results of velocity in safety procedure

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Fig. 26

The experimental results of attitude in safety procedure

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Fig. 8

Simulation results of attitude

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Fig. 9

Autonomous hovering in a flight experiment

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Fig. 10

Trajectories of the quadrotor are shown on the GCS interface during the mission of (a) waypoint tracking and (b)circle trajectory tracking

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Fig. 11

The 3D view of results of the waypoint tracking experiment

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Fig. 12

The experimental results of position in tracking waypoints

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Fig. 13

The experimental results of velocity in tracking waypoints

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Fig. 14

The experimental results of attitude in tracking waypoints

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Fig. 15

The 3D view of results of the circle trajectory tracking experiment

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Fig. 16

The experimental results of position in tracking circle trajectory

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Fig. 17

The experimental results of velocity in tracking circle trajectory

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Fig. 18

The experimental results of attitude in tracking circle trajectory

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Fig. 19

The 3D view of results of the vertical takeoff and landing experiment

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Fig. 20

The experimental results of position in vertical takeoff and landing

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Fig. 21

The experimental results of velocity in vertical takeoff and landing

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Fig. 22

The experimental results of attitude in vertical takeoff and landing

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Fig. 23

The 3D view of results of the safety procedure

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Fig. 6

Comparative simulation results of attitude

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