Design controller stability of bi-copter unmanned aerial vehicle at hovering position

Abstract

Unmanned Aerial Vehicles (UAVs) have attracted growing attention in research due to their wide applications. UAVs include many devices such as quad-copter, hexa-rotor, helicopter, bi-copter tri-copter. Among them, bi-copter is proposed in this thesis. It has two rotor axes that are equidistant from its center of gravity. Bi-copter UAV is multivariable, nonlinear, unstable and under-actuated system. This thesis work concentrates on the control and simulation of a bi-copter unmanned aerial vehicle. the proposed strategy is by using PID to control the stability of the Euler angles (roll angle, pitch angle, yaw angle) and SMC to control the stability of the Euler angles (roll angle, pitch angle, yaw angle) will and altitude control. The dynamic modeling of bi-copter rotor will discuss and the design of slide mode controller (SMC) will present. A simulator based on MATLAB/SIMULINK model of UAV two rotors is developing to carry out simulation studies. The effectiveness of the proposed SMC control algorithm to control the hovering position and cruising position in the presence of disturbances and gyroscopic effect will investigate through simulation studies on the simulator. Comparison of PID and SMC carry out in this work