Authors : Nada M. Ali Ahmed and Muna H. Saleh
Abstract: A tri-copter is a newer design of multirotor drones that can be used in narrow places and indoor environments because of its small size and weight. In this study, the model has been designed by Newton-Euler law and two controllers are used to test the model stability, the first controller is the Proportional Integral Derivative (PID) linear control and the second is the Integral Back-stepping Sliding Mode (IBSM) nonlinear control and both controller’s gains have been tuned by a Particle Swarm Optimization method (PSO) to minimize the Integral Time Absolute Error (ITAE) for the system. After tuning the controllers, they are tested with step signals and many tracks have been tested with both controllers and the results are obtained in MATLAB Simulink R2017b.
Nada M. Ali Ahmed and Muna H. Saleh, 2019. Trajectory Tracking of a Tri-Copter Vertical Take-Off and Landing UAV. Journal of Engineering and Applied Sciences, 14: 6223-6230.