IEET-2016

Minicopter Nonlinear Control with the Existence of Disturbances

Ibrahim, I. N., Hussin, S., Abramov, I. V.

Abstract.This paper is focusing on studying the nature of equations of motion of a six degree of freedom of a Minicopter. Choosing a Minicopter is challenging in the field of control because it is a highly nonlinear, multivariable, and underactuated system, in addition to its advantages such as high maneuverability and stationary flight. Underactuated systems, defined as a mechanical system in which the dimension of the configuration space exceeds that of the control input space, that is, with fewer control inputs than the degrees of freedom. Modeling of such a system is not a trivial problem due to the coupled dynamics of the aerial vehicle. The dynamic model is formulated using the Newton - Euler method for translational and rotational dynamics, and the contribution of this work is deriving an accurate and detailed mathematical model. Then disturbances that represent outdoors environment were added to be used in the simulation, the topic, which was unmentioned before in most of the literature. The kinematics and dynamics were studied then equations of motion were explained. The state space model was derived with the existence of disturbances in the earth frame. An application was conducted by LabVIEW simulation program using Runge-Kutta 2 method. Correlations were analyzed on all parameters of motion equations; four slide mode controllers were implemented to stabilize the altitude and attitude. Finally, Lyapunov stability was presented.

Keywords:Minicopter, disturbances, Lyapunov stability, UAV control