A coaxial quadrotor flying robot: Design, analysis and control implementation

Abstract

In this paper, the analysis, design and fabrication of an Octorotor Miniature Aerial Vehicle (MAV) are presented. This rotorcraft setup can act as an autonomous robot in outdoor environments to carry and move high payloads, and can thus also be used in object manipulation tasks. Within this paper, the system design, dynamic modeling, control system design, and its implementation are elaborated. The design procedure for this MAV includes two mechanics and electronics sub systems, which are thoroughly discussed. The mechanical design covers the aerodynamics analysis, body components, and propulsion system implementation. The electronic design includes hardware selection and control system design for the presented aerial robot. Since the MAV flies in outdoor environments, it additionally has to cope with windy conditions. Hence, the stabilization control scheme is considered along the lines of usual PID controllers. The attitude controller, as well as the inner and outer control loops, are fully studied, and a Fuzzy-PID controller is developed to improve the performance. Finally, considering maneuvers in two case studies, simulation and implementation results are studied and compared.