Fractional PID approach for control of a six-rotor robot

Publish Year: 1397
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:

ENGCONF02_165

تاریخ نمایه سازی: 1 تیر 1398

Abstract:

In this paper, we present a stable aerial robot aimed at providing robust hover flight. The dynamical model of the robot is derived using Newton-Euler principles. As the system is instinctually unstable, we develop a fractional PID control which has several advantages over a conventional PID controller. To verify the decent performance of the proposed scheme we carry out numerical simulation in MATLAB. The results show that the closed-loop vehicle properly remains in hover and follows desired path even in presence of external disturbances

Authors

Mohamad Ali Tofigh

School of Mechanical Engineering, University of Tehran, Tehran, Iran