A dissertation submitted in partial fulfillment of the requirement for the degree of Master of Science (Mechanical

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MODELING, CONTROL AND NAVIGATION OF A QUADROTOR

BY

OUARTIOU MUSTAPHA

A dissertation submitted in partial fulfillment of the requirement for the degree of Master of Science (Mechanical

Engineering)

Kulliyyah of Engineering

International Islamic University Malaysia

OCTOBER 2017

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ABSTRACT

Over the recent years, UAVs have been used more commonly than prior years. As the technology related to aviation becomes more advanced and more accessible to the public, this area of research has attracted many engineers and researchers to design and carry out quadcopters for different missions and this era is not explored thoroughly. Therefore, there is a high demand for developing a reliable, non-costly and feasible solution for the modeling, control and navigation systems of quadrotor.

The significance of this study lies in evaluating the utilization and reliability of quadrotors in civil missions such as search and rescue missions and agriculture applications or military-like surveillance. In order to control or analyze the system, a dynamic model must be considered. Firstly, full review on the Aerial vehicle will be done, which consists of the derivation of the mathematical model of the quadrotor, then designing a suitable control system algorithm taking into account the dynamic system properties. In this thesis, a proportional-integral-derivative controller (PID) based feedback control system is developed and implemented on MATLAB’s Simulink. The PID controller helps in tracking any given trajectory. We tune the PID parameters using the Integral of Time multiplied by Absolute Error (ITAE) criterion.

The proposed techniques are validated with the help of numerous simulations which demonstrate that the quadrotor was able to navigate to any desired way-point location and to follow any desired trajectory with tracking error less than 0.001 m. This model shows significant results for small roll and pitch angles and low velocities less than 3 m/s. Finally, the report concludes with suggestions for future work in order to enhance the trajectory tracking and path following.

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ثحبلا ةصلاخ

ABSTRACT IN ARABIC

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APPROVAL PAGE

I certify that I have supervised and read this study and that in my opinion, it conforms to acceptable standards of scholarly presentation and is fully adequate, in scope and quality, as a dissertation for the degree of Master of Science (Mechanical Engineering).

………..………..

Moumen Mohammed Idres Supervisor

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Mohamed Elsayed Okasha Co-Supervisor

I certify that I have read this study and that in my opinion it conforms to acceptable standards of scholarly presentation and is fully adequate, in scope and quality, as a dissertation for the degree of Master of Science (Mechanical Engineering).

……….

Eri Legowo Internal Examiner

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Erwin Sulaeman Internal Examiner

This dissertation was submitted to the Department of Mechanical Engineering and is accepted as fulfilmentnt of the requirement for the degree of Master of Science (Mechanical Engineering)

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Waqar Asrar

Head, Department of Mechanical Engineering

This dissertation was submitted to Kulliyyah of Engineering and is accepted as fulfilmentnt of the requirement for the degree of Master of Science (Mechanical Engineering).

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Erry Yulian Triblas Adesta Dean, Kulliyyah of Engineering

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DECLARATION

I hereby declare that this dissertation is the result of my own investigation, except where otherwise stated. I also declare that it has not been previously or concurrently submitted as a whole for any other degrees at IIUM or other institutions.

Ouartiou Mustapha

Signature……….……. Date …...

COPYRIGHT PAGE

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INTERNATIONAL ISLAMIC UNIVERSITY MALAYSIA

DECLARATION OF COPYRIGHT AND AFFIRMATION OF FAIR USE OF UNPUBLISHED RESEARCH

THE IMPACT OF MOBILE INTERFACE DESIGN ON INFORMATION QUALITY OF M-GOVERNMENT SITES

I declare that the copyright holders of this dissertation are jointly owned by the student and IIUM.

No part of this unpublished research may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording or otherwise without prior written permission of the copyright holder except as provided below

1. Any material contained in or derived from this unpublished research may be used by others in their writing with due acknowledgement.

2. IIUM or its library will have the right to make and transmit copies (print or electronic) for institutional and academic purposes.

3. The IIUM library will have the right to make, store in a retrieved system and supply copies of this unpublished research if requested by other universities and research libraries.

By signing this form, I acknowledged that I have read and understand theIIUM Intellectual Property Right and Commercialization policy.

Affirmed by Ouartiou Mustapha

……..……….. ………..

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ACKNOWLEDGEMENTS

After an intensive period of several months, today is the day: writing this note of thanks is the finishing touch on my thesis. It has been a period of intense learning for me, not only in the scientific area, but also on a personal level. Writing this thesis has had a big impact on me. I would like to reflect on all my friends who have supported and helped me so much throughout this period. Would also like to thank my parents for their wise counsel and a sympathetic ear. You are always there for me. Finally, a special thanks to Dr Moumen Idres, my supervisor, for his continuous support, encouragement and leadership, and for that, I will be forever grateful.

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LIST OF TABLES

Table No. Page No.

2.1 Review of the Flight missions of a Quadcopter 15

3.1 PID Parameters fpr Posision Control 28

3.2 PID Parameters for Attitude Control 28

4.1 Simulation Cases and their Purposes 32

4.2 Parameters of the Dynamics model 32

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LIST OF FIGURES

Figure No. Page No.

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1.1 Process of all Stages until Final Outcome 5

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2.1 Aircraft Classification Depending on Flying Principle 7

‎2.2 Cross Configuration and Plus Configuration of a Quadcopter 9

‎2.3 Quadcopter Movement 10

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2.4 First Manned Flight of Quadcopters 11

‎2.5 Quadcopter Missions Illustration Chart (Ghazbi et al, 2016) 15

‎3.1 The Nested Control Loops for Position and Attitude Control 19

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3.2 Forces/Moments Acting on the Quadcopter Frame 20

‎3.3 Traditional PID Structure 27

‎3.4 Block diagram Showing a Typical Unity Feedback of the System 27

‎3.5 Simulink Model of the Input Signals Generation 29

4.1 Step Response for x-input 33

4.2 Step Response for y-input 33

‎4.3 Step Response for z-input 34

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4.4 Quadcopter Following x-axis Ramp Trajectory 35

‎4.5 Quadcopter Following y-axis Ramp Trajectory 35

4.6 Following z-axis Ramp Trajectory 36

4.7 Quadcopter Following Curve Trajectory in x-axis 36 4.8 Quadcopter Following a Curve Trajectory in y-axis 37 4.9 Quadcopter Following a Curve Trajectory z-axis 37

‎4.10 Quadcopter Following a Circle Trajectory (x-y plane) 38 4.11 Quadcopter Following Circle Trajectory (x-axis) 39

‎4.12 Quadcopter Following a Circular Trajectory (y-axis). 39

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4.13 3D Trajectory Following in x-y Plane 40

4.14 3D Trajectory Following in x-z Plane 40

4.15 3D Trajectory Following in the y-z planee 41

4.16 Quadcopter Following a Sinusoidal Trajectory with T = 80 s 42

‎4.17 Quadcopter Following a Sinusoidal Trajectory with T = 40 42

‎4.18 Quadcopter Following a Sinusoidal Trajectory with T = 20 43

‎4.19 Quadcopter Following a Sinusoidal Trajectory with T =10 s 43

4.20 Quadcopter Following Waypoints 44

‎4.21 Taking off and landing tracking 45

‎4.22 Vertical Flight aollowed by a Circular Trajectory 46

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LIST OF SYMBOLS

W Earth frame B Body frame

g Acceleration due to gravity ϕ Roll Angle

θ Pitch Angle ψ Yaw Angle

r Position vector of the center of mass in the world frame m Mass of Quadrotor

p, q, r The components of angular velocity of the quadrotor k_F Propeller force constant

kM Propeller moment constant

Mi The moment produced by each rotors Fi The force produced by each rotors Kd, Kp Controller gains

I Inertia matrix of Quadrotor

L The length between the axis of rotors to the center of mass ωi Speed of each rotor

∆ωi Differential motor speeds

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CHAPTER ONE INTRODUCTION

1.1 BACKGROUND OF STUDY

In this age, in the fields of robotics, one of the vehicles that have been developed quickly in the present time are quadcopters (Steen, 2005). Quadcopters are presented in several sizes, shapes, configurations and characteristics. Also discussed how they have clear advantages to piloted aircraft as they possess a higher maneuverability, low cost, decreased radar signature, strength, and a decreased risk to human life (Naidoo, 2011). In light of that, deep research about the kinematics and dynamics leads to understand the physical behavior of the quadcopter. To stabilize the quadcopter a combination of modeling and control algorithm should be done accurately. Thanks to a Matlab-Simulink software to facilitate testing the whole system which is interfaced with the remote controller (SA, 2011).

The level of autonomy in an Unmanned Aerial Vehicle differs substantially, varying between manual control or autonomous operations. Remotely monitored vehicles like helicopters, which are classified within devices where autonomy is minimal. The major reason behind the autonomous control is to avoid utilizing pilots with regard to manual control, although the system will be sophisticated technologically. Fully autonomous UAVs is unique in terms of having the capacity to keep flight run based on an autonomous decision in real time. High-level goals could be attained by implementing sequences of desired actions. Numerous investigations have been done in modeling and control of a quad‐rotor helicopter using different methods.

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They are models using momentum theory as well as blade element theory. The Euler‐Lagrange method has been used to derive the defining equations of motion of the six-degree-of-freedom system, a series of control strategy were used such as using linear PID controllers, LQR, LQG was implemented in different systems (Akbar, 2014). Quadcopters are seen as well-structured vehicles and are able of handling sophisticated tasks, it is easy to build them from scratch, adding extra devices such as camera and sensors which could facilitate dealing with complex tasks (Bouabdallah, 2005). Naturally, the quadcopter is not stable. Moreover, a quadcopter is underactuated, under damped, coupled and nonlinear (Li, 2014). Also, Skjønhaug (2011) claimed that autonomous flying robots have gained enormous commercial potential during the last years. This new situation has opened the way for several, complex and highly important applications for both military and civilian markets, for instance, UAV’s provide a significant military advantage and are routinely used in weapons plant monitoring, strategic spying, enemy territory reconnaissance, and homeland defense (Honig, 2011). This in addition to the challenging dynamics of the quadcopter, a stable flight requires many sensors with high accuracy combined with a fast and robust control system. The sensor data, especially from the inertial measurement unit which estimates the attitude, has to be merged in order to get the most out of the system. It is important to understand the main challenges of the quadcopter in order to control it. Quadcopter main areas of research include innovative designs autonomous missions, guidance, navigations and control (Kadouf, 2014).

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3 1.2 STATEMENT OF THE PROBLEM

As the technology related to aviation becomes more advanced and more accessible to the public, this area of research has attracted many engineers and researchers to design and carry out quadcopters for different missions. Unfortunately, although there is a vast and significant development of today's technology, current modeling, control and navigation solutions are either non-robust or show improper and inefficient flight path and using a lot of assumption for the parameters, or they are expensive and they require advanced software and hardware. There are challenges due to both hardware and software. Therefore, there is a high demand of developing reliable, non-costly and feasible solution for the modeling, control and navigation systems. Improving algorithms for modeling, control and navigation for quadrotor application is the problem that will be addressed in this research. This study is significant in order to evaluate the utilization and reliability of quadrotors in civil missions such as search and rescue missions and agriculture applications or military like surveillance.

1.3 RESEARCH OBJECTIVES

Based on the given problem statement, several research objectives are established.

This research embarks on the following objectives:

1. to model a quadcopter system

2. to develop a control and navigation algorithm

3. to simulate and assess the quadcopter flying performance

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4 1.4 RESEARCH METHODOLOGY

First, a fundamental knowledge of a quadrotor is going to be presented. For example, an operation of a quadrotor or dynamics modeling is essential parts of understanding a quadrotor system. In addition Literature review is continually updated over the stage.

The main objectives of this stage are having a deep understanding of a quadrotor system and mechanism.

This will be all done in the literature review of our project. We are going to learn more about the hardware such as mechanical component characteristics (airframe and propellers), electrical and electronic components (Brushless DC motor, Electronic speed controller (ESC) as well as sensors Microcontroller unit and battery characteristics. Moreover, using Matlab, we can simulate the nonlinear dynamics of the quadcopter system.

Dynamics of a quadrotor is challenging to control because it is underactuated.

Underactuated systems refer to mechanical systems that have fewer actuators than configuration space dimensions. In order to control or analyze the system, a dynamic model must be considered. After that, we are going to develop and implement an algorithm using Matlab simulation to experience our model. Then, we will conduct experiments to test the performance of our system and to see how well these methods of control and navigation work on the drone while it is hovering and or moving. With the navigation, tracking and waypoints trajectory following decided and tested.

Research methodology will pass through the following stages:

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Figure 1.1 Process of all Stages until Final Outcome Literature review of

Quadcopters modeling control and navigation

Study software and hardware

Derive a mathematical model for the quadrotor system and

select the parameters.

Development of control and navigation algorithms

Simulate the flight performance

Tuning of modules in order to achieve the consolidated

flight

Test performance : navigation tracking of a predefined route

writting thesis

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6 1.5 RESEARCH SCOPE

Firstly, full review of the aerial vehicle will be done, which consist of the derivation of the mathematical model of the model, then designing a suitable control system taking into account the dynamic system properties. We tune the PID parameters using robust ITAE methods based on a suitable motor model selected from the literature.Using Simulink (MATLAB), we simulate the dynamics and control.

Secondly, the work focuses on trajectory generation methods for quadrotor helicopters and we will present a trajectory generation method where complex trajectories are designed as a sequence of simple tones. The design work is extended to the nonlinear model of a quadcopter. The comparison with other results is used to verify the controller stability and robustness. This model is working well for small roll and pitch angles and low linear and angular velocities.

1.6 SUMMARY

Chapter one is an introduction of the thesis where the objectives, problem statement, research methodology and scope of the study are represented. Chapter two contains the literature review related to various types and previous work on modeling, control and navigation problems of quadcopters. Chapter three introduces a detailed mathematical model of the system. Particular attention is given to the control algorithms needed to stabilize the quadrotor. PID techniques are adopted in this work.

Chapter four shows the simulation results of the quadcopter utilizing Matlab-Simulink to test the behavior of the vehicle’s dynamic model, as well as, to verify the control algorithm performance. Chapter five represents a summary of the work and evaluates the results obtained and suggested some solutions for future work to enhance quadrotor platform.

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CHAPTER TWO LITERATURE REVIEW

2.1 INTRODUCTION

The quadrotor is one category of the aerial vehicles which can be classified according to its flying principle. The classification diagram is represented.

Figure 2.1 Aircraft Classification Depending on Flying Principle

The micro aerial vehicle is evaluated as a perfect example of quick navigation among the motorized category. In addition, vertical take-off and landing quadcopters are categorized under the same class (Milhim, 2014). On the other hand, UAVs can be classified according to the use of it in our life. In civil usage, fixed wing is used, for instance, in wide-area and high attitude tasks. Mostly, quadcopters are more useful in the scientific field, for example, meteorological and surveillance. In military usage, they equipped with advanced materials and sensors to realize more complicated missions (Song et al., 2014). Furthermore, (Yu, Feng &Jie, 2015) indicate that most of the flapping wings is categorized with the micro UAVs but they are still under construction because of their limitation such as low payload capacity and low stability

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level. However, its ability to vertical take-off and landing and less power consumption are valuable characteristics for them.

Rotary wing UAVs are usually utilized on tasks that need to hover. Compared to the previous category with the same size they are oversensitive to air disturbance (Peng &Gua, 2014). Quadcopters have become widely utilized due to some unparalleled characteristics, for example, they have small size, flexible maneuverability and easy to control. Generally, search and rescue tasks are the most important application of quadcopters,as well as, it's used in in the military fields such as homeland border protection and reconnaissance. Additionally, quadrotors have a wide utilization in science applications where they can be utilized to study environmental change. For example, ice quadratures are nimble airplanes manipulated by the rotational speed of the four rotors.

Sheet elements and volcanic movement and then again for climatic inspecting (Gupte& Mohandas, 2016). Elaboration on several applications of quadrotor has been given in (Sarris, 2015).

2.2 MECHANISM OF FLYING

There are several types of quadcopter configuration such as: the "x" disposition the

"+" disposition depends on the position of the four rotors as represented in figure 2.2 (Zhang et al., 2014). It has been supported by Gupte (2016) that “+” design is rated to be less stable compared to x-design, which is less acrobatic structure. The four rotors are adjusted with two opposite rotors spin in the same orientation, however, the other rotors spin in an inverse way.

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Figure 2.2 Cross Configuration and Plus Configuration of a Quadcopter (Ghazbi et al, 2016)

The quarter is classified as a six degree of freedom under-actuated system, because of the number of outputs is more than the number of inputs and it has three rotational and three translational motions. The flying system of the vehicle is straightforward. The quadcopter movements appeared by accurate adjusting of the speed of each rotor relative to the other rotors. Two opposite rotors rotate in a clockwise direction, whereas the other ones spin in anti-clockwise direction such that the net yaw is equal to zero see Figure 2.3 (a).Yaw movement is created when there is a difference in the speeds of two pairs rotors, see Figure 2.3 (b) and (c). In the other hand roll and pitch movement are created when there is a difference in the speeds of tow opposite’s rotors see Figure 2.3 (d). Forward and backward movement are adjusted by raising and decreasing the speed of the front or back rotors of the vehicle which means changing of the pitch angle as well. Lastly, the movement towards the right and left direction is reached by adjusting the roll angle (Ghazbi et al., 2016)

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Figure ‎2.3 Quadcopter Movement (Ghazbi et al., 2016)

2.3 OVERVIEW OF THE EARLY HISTORY OF QUADROTORS

The first quadcopter was built in 1907 by the Brothers Breguet. They innovated Gyroplane No.1 see Figure 2.3 (a) which was the first manned flight of the helicopter.

Unfortunately the machine had never fully flown due to the loss of stability and improper control system (Leishman, 2006). After that in 1922, other experiments were done on the field of manned helicopters by Etienne Oemichen and Bothezart who innovate Oemichen No.2 see Figure 2.3 (c) and Georges de Bothezart Figure 2.3 (b).

Moreover, Curtiss-Wright constructed Curtiss X-19 see Figure 2.3 (d). (Bouabdallah, 2004)

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(a) (b)

(c) (d) Figure ‎2.4 First Manned Flight of Quadcopters

2.4 QUADROTOR DYNAMIC MODELING

We call the dynamic model of a quadcopter the description of the attitude and the position of the system using differential equations which implicate all the forces and moments acting on the system at defined time. There are two types of dynamic models ,based on input controls, to simulate the quadcopter model and its control system. The first one utilizes motor speed only as input control rather than using the model of the motor. However, the second type focus on the motor type and use as inputs for the controller motor voltages.

A dissertation submitted in partial fulfillment of the requirement for the degree of Master of Science (Mechanical

MODELING, CONTROL AND NAVIGATION OF A QUADROTOR

BY

OUARTIOU MUSTAPHA

A dissertation submitted in partial fulfillment of the requirement for the degree of Master of Science (Mechanical

Engineering)

Kulliyyah of Engineering

International Islamic University Malaysia

OCTOBER 2017

ABSTRACT

ثحبلا ةصلاخ

ABSTRACT IN ARABIC

APPROVAL PAGE

DECLARATION

COPYRIGHT PAGE

INTERNATIONAL ISLAMIC UNIVERSITY MALAYSIA

DECLARATION OF COPYRIGHT AND AFFIRMATION OF FAIR USE OF UNPUBLISHED RESEARCH

THE IMPACT OF MOBILE INTERFACE DESIGN ON INFORMATION QUALITY OF M-GOVERNMENT SITES

ACKNOWLEDGEMENTS

TABLE OF CONTENTS

LIST OF TABLES

LIST OF FIGURES

LIST OF SYMBOLS

CHAPTER ONE INTRODUCTION

CHAPTER TWO LITERATURE REVIEW