Design, Modeling, and Control of Tiltable Tri-Rotors UAV.

Yahia, Abdullah Mohammed; Alkamachi, Ahmad

The mathematical model for a full actuated T-shaped Tri-copter is derived in details and a suitable controller is proposed in this work. The system is governed by three tiltable motor– propeller sets to change the thrust direction to a desired angle. This will lead to the achievement of maneuverability and reduce power consumption. To control the model, a feedback linearization method is used to decouple and get a direct control on the copter degree of freedoms. Attitude and Altitude PID controller is designed to control the system and fulfil the desired trajectory. The PID parameters are tuned using Genetic algorithm (GA) optimization method. The system and the controller performance are proved using MATLAB Simulink platform through several flight scenarios.

GENETIC algorithms; PID controllers; DEGREES of freedom; MATHEMATICAL models; THRUST; VERTICALLY rising aircraft

Journal Européen des Systèmes Automatisés, 2024, Vol 57, Issue 3, p841

1269-6935

Academic Journal

10.18280/jesa.570323