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Dynamic Modeling and Control of a HexaRotor using Linear and Nonlinear Methods

Mostafa Moussid, Adil Sayouti, Hicham Medromi. Published in Circuits and Systems

International Journal of Applied Information Systems
Year of Publication: 2015
Publisher: Foundation of Computer Science (FCS), NY, USA
Authors: Mostafa Moussid, Adil Sayouti, Hicham Medromi
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  1. Mostafa Moussid, Adil Sayouti and Hicham Medromi. Article: Dynamic Modeling and Control of a HexaRotor using Linear and Nonlinear Methods. International Journal of Applied Information Systems 9(5):9-17, August 2015. BibTeX

    	author = "Mostafa Moussid and Adil Sayouti and Hicham Medromi",
    	title = "Article: Dynamic Modeling and Control of a HexaRotor using Linear and Nonlinear Methods",
    	journal = "International Journal of Applied Information Systems",
    	year = 2015,
    	volume = 9,
    	number = 5,
    	pages = "9-17",
    	month = "August",
    	note = "Published by Foundation of Computer Science (FCS), NY, USA"


A hexacopter aircraft is a class of helicopter, more specifically of multirotors. The hexacopter has several characteristics (mechanically simple, vertical takeoff and landing, hovering capacities, agile) that give it several operational advantages over other types of aircraft. But its beneficts come at a cost: the hexacopter has a highly nonlinear dynamics, coupled and underactuated which makes it impossible to operate without a feedback controller action.

In this work we present a detailed mathematical model for a Vertical Takeoff and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) known as the hexarotor. The nonlinear dynamic model of the hexarotor is formulated using the Newton-Euler method, the formulated model is detailed including aerodynamic effects and rotor dynamics that are omitted in many literature. Three controls schemes, namely Proportional-Derivative-Integral (PID) controller, backstepping and sliding mode (SMC), have been applied to control the altitude, attitude, heading and position of the hexacopter in space. Simulation based experiments were conducted to evaluate and compare the performance of three developed control techniques in terms of dynamic performance, stability and the effect of possible disturbances.

This article focuses on modeling strategy and command of a kind hexarotor type unmanned aerial vehicle (UAV). These developments are part of the overall project initiated by the team (EAS) of the Computer Laboratory, systems and renewable energy (LISER) of the National School of Electrical and Mechanical (ENSEM).


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Hexacopter; Vertical Takeo-and Landing; Nonlinear control; Newton-Euler method; PID; backstepping; sliding-mode; Nomenclature  Symbol Meaning  RI : The earth inertial frame (RI -frame) RB : The body-fixed frame (RB -frame)  m