A Quadcopter Stability Analysis: A Case Study Using Simulation

Authors: C. S. Bianca Sabrina, N. Egidio Raimundo, L. Alexandre Baratella, C. H. João Paulo

Abstract:

This paper aims to present a study, with the theoretical concepts and applications of the Quadcopter, using the MATLAB simulator. In order to use this tool, the study of the stability of the drone through a Proportional - Integral - Derivative (PID) controller will be presented. After the stability study, some tests are done on the simulator and its results will be presented. From the mathematical model, it is possible to find the Newton-Euler angles, so that it is possible to stabilize the quadcopter in a certain position in the air, starting from the ground. In order to understand the impact of the controllers gain values on the stabilization of the Euler-Newton angles, three conditions will be tested with different controller gain values.

Keywords: Controllers, drones, quadcopter, stability.

References:

[1] Tuton Chandra Mallick, Mohammad Ariful Islam Bhuyan, Mohammed Saifuddin Munna. Design and implementation of a UVA (Drone) with flight data recording. Available: “https://ieeexplore.ieee.org/document/7856519” Oct, 2016.
[2] Jun Xiao, Weiwei Zhang, Yujie Han, Min Sun. Influencing factor and corresponding method of target drone dynamic stability. Available: “https://ieeexplore.ieee.org/document/5988138”. Jul, 2011.
[3] Nappaphol Siriphun, Shigeru Kashihara, Doudou Fall, Assadarat Khurat. Distinguishing Drone Types Based on Acoustic Wave by IoT Device. Available: “https://ieeexplore.ieee.org/document/8712755“. May, 2019.
[4] Seyit Alperen Celtek, Akif Durdu, Ender Kurnaz. Design and Simulation of the Hierarchical Tree Topology Based Wireless Drone Networks. Available: “https://ieeexplore.ieee.org/document/8620755”. Jan 2019.
[5] Majed Alwateer, Seng W. Loke, Niroshinie Fernando. Enabling Drone Services: Drone Crowdsourcing and Drone Scripting. Available: “https://ieeexplore.ieee.org/document/8788511”. Aug, 2019.
[6] Saeed Pirbodaghi, Dinesh Thangarajan, Teo Hung Liang, Madhavan Shanmugavel, Veera Ragavan, Joao Silva. Cooperative heterogeneous Unmanned Autonomous Systems solution for monitoring and inspecting power distribution system. Available: “https://ieeexplore.ieee.org/document/7475330”. Dec, 2015.
[7] Anupama Vijay , V. R. Jisha, Robin Emmanuel. Control and Development of Coaxial Octocopter for Human Transportation in Gazebo. Available: https://ieeexplore.ieee.org/document/9029020. Dec, 2019.
[8] Parrot. Mambo Fly Parrot. Available: “https://www.parrot.com/eu/drones/parrot-mambo-fly". 2020.
[9] Mathworks. Quadcopter Project. Available: "https://www.mathworks.com/help/aeroblks/quadcopter-project.html". Dec, 2019.
[10] Drayer Andrade, Greg Drones with Simulink. Available: “https://www.mathworks.com/videos/programming-drones-with-simulink-1513024653640.html.” . Feb, 2020.
[11] Drayer Andrade, Greg. Hardware Support. Available: “https://www.mathworks.com/hardware-support/parrot-minidrones.html". Dec, 2019.
[12] Asma Katiar, Rabbia Rashdi, Zeeshan Ali and Urooj Baig, Mario Cesar M., Teixeira, Herbert CG. Quadcopter control and stability analysis. Available: “https://ieeexplore.ieee.org/document/8346419/authors#authors”. Apr 2018.
[13] Nóbrega Velosa, Carlos Miguel. Control of the Position and Attitude of a Quadcopter by Programmable References. Available: "https://ubibliorum.ubi.pt/bitstream/10400.6/3642/1/TESE%20VERS%C3%83O%20FINAL%20%2024%20Junho%202011.pdf". June, 2011.
[14] Cavalcante de Sá, Rejane. Construction, Dynamic Modeling and PID Control for the Stability of a Quadrotor Unmanned Aerial Vehicle. Available:"http://repositorio.ufc.br/bitstream/riufc/4097/1/2012_dis_rcsa.pdf. ” 2012.
[15] Espiúca Monteiro, João Carlos. Modeling and Control of a Quadrotor Vehicle. Available: “http://monografia.poli.ufrj.br/monógrafo/monopoli10014928.pdf". March, 2015.