Abstract
The unmanned aerial vehicle (UAV) has the advantage of light weight, small size, and better dynamic performance. Conventional UAVs are not well suited for use in confined spaces, such as small passageways or indoor halls, e.t.c. The multi-rotor copters have the vertical take-off and landing (VTOL) ability for indoor flight. The most popular research topics for multi-rotor copters are Quad-copter and Hexa-copter. The objective of this research is to develop a dynamic model for hexa-rotor aerial robot. The dynamic model of the hexa-rotor aerial robot had been studied in this research. The PID control algorithm was used to control the hexa-copter. We used the Matlab software to help us to tune the PID control parameters for quick response and minimizing the fluctuation. From the simulation results, the hexa-copter could make a stable hovering on the target position and return to the stable hovering position and attitude after one motor or one propeller failure.
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