DOI:10.20894/IJCNES.
Periodicity: Bi Annual.
Impact Factor:
SJIF:5.217
Submission:Any Time
Publisher:IIR Groups
Language:English
Review Process:
Double Blinded
UAV (Unmanned Aerial Vehicles) have become an important assert in todays military and defense application. With an ability to be controlled wirelessly and eyes in the sky kind of ability with video and audio transmission they are being used in a variety of application right from surveillance, reconnaissance to search and rescue during disaster management. Design and modeling of an UAV is not as complex as designing its control system and autopilot (semi or complete) which govern its flight stability and its operative efficiency. Here we have proposed a unique design of a Quad Rotor which falls under the category of Micro Unmanned aerial vehicles. This Quad is incorporated with Video surveillance camera, Life Jacket and Food Box for Disaster Reconnaissance during natural disaster. We will be focusing on design of its semi-autopilot so that the aerial flight is stable. A quad-rotor aircraft is an under-actuated, strongly coupled nonlinear system with parameter uncertainty and un-modeled disturbance. In order to make the aircraft track the desired trajectory, a nested control system is adopted in this paper. A position error proportional-derivative (PD) controller is designed as the outer-loop controller based on the coupling action between rotational and translational movement, and an adaptive back stepping sliding mode control algorithm is used to stabilize the attitude. Finally, prototype experiments are utilized to demonstrate the effectiveness of the proposed control system.
