Robust Control of a Quadrotor
Multicopters are becoming very common in daily life applications due to their hover and VTOL capabilities. Nowadays, multicopters have a wide range of applications from photography to monitoring and reconnaissance and, from short distance commuting to package delivery. As the applications of multico
2025-06-28 16:34:51 - Adil Khan
Robust Control of a Quadrotor
Project Area of Specialization RoboticsProject SummaryMulticopters are becoming very common in daily life applications due to their hover and VTOL capabilities. Nowadays, multicopters have a wide range of applications from photography to monitoring and reconnaissance and, from short distance commuting to package delivery. As the applications of multicopters are increasing, their performance requirements and safety constraints are getting more stringent, which not only requires better designs but also better and advanced control strategies. So, the scope of this project is to develop a robust controller for a multicopter that will have the desired performance in an uncertain environment. In real-life scenarios, there are many disturbances in the environment and uncertainties when we mathematically model the dynamics of multicopter. Hence, to cope with all these uncertainties, we will use an active disturbance rejection control technique (ADRC), which is well known for its robustness. The designed controller will be tested on a non-linear 6 DoF simulation with uncertainties to evaluate its performance.
Project Objectives- Development of a linear model of multicopter
- Designing a robust flight controller (Active Disturbance Rejection Control)
- Evaluation of controller (ADRC) on 6 DoF non-linear simulation with uncertainties
- Hardware implementation on a Quadrotor
- Study of multicopter dynamics
- Development of a non-linear model of multicopter
- Linearization of a non-linear model
- Designing a nominal controller (PID) and its implementation on 6 DoF non-linear simulation
- Designing a robust controller (ADRC)
- Evaluation of designed robust controller on non-linear simulation
- Digital Implementation using s-functions
- Hardware Implementation
- Industrial applications on Multicopter/Aircrafts/UAVs
- Improvements and better performance for future research
- Expertise in robust controller design for Multicopters/UAVs
- Development of Robust Controller for Spy drones for Army
- Development of a non-linear model of multicopter
- Linearization of the non-linear model
- Development of a simple PID controller for nominal linearized model
- Evaluation of PID controller on 6 DoF simulation in MATLAB
- Designing a robust controller (ADRC)
- Evaluation of a designed robust controller on a non-linear 6 DoF simulation in MATLAB
- Hardware Implementation on a Quadrotor
| Item Name | Type | No. of Units | Per Unit Cost (in Rs) | Total (in Rs) |
|---|---|---|---|---|
| Total in (Rs) | 67363 | |||
| Frame | Equipment | 1 | 8000 | 8000 |
| EAC 20A | Equipment | 1 | 9000 | 9000 |
| Battery | Equipment | 2 | 8000 | 16000 |
| Charger | Equipment | 1 | 6000 | 6000 |
| Remote Controller | Equipment | 1 | 9483 | 9483 |
| Sensors (GPS) | Equipment | 1 | 10000 | 10000 |
| Sensors (FCB) | Equipment | 1 | 7000 | 7000 |
| Propellers | Equipment | 8 | 235 | 1880 |