Abstract
Due to the low efficiency of the current measurement of water quality, we designed a hexacopter that can automatically measure water quality. The dynamic model of hexacopter is derived using Newton-Eulerian’s law. In order to ensure the stability of the drone when hovering over the surface of the water, dynamic inversion control (DIC) based on nonlinear feedback is proposed to control the attitude of the UAV. To further reduce the long settling time and overshoot of the controller, an error compensator based on proportional integral derivative (PID) is introduced in the control system. Simulation result shows the good performance of the proposed DIC-PID algorithm comparing to the system without error compensated controller. The designed water quality measurement system can sample and analyze the water quality in real time. Details of the water quality measurement system are presented to verify the high-efficiency of the designed UAV.
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