Implementation of flight controller on microQuadcopter

Project Title

Implementation of flight controller on microQuadcopter

Project Area of Specialization RoboticsProject Summary

Our project “Implementation of Flight Control system for a micro quad rotor” would be utilized for the inspection of HVAC ducts and pipes through trajectory tracking procedure. In this project we would design a flight control system for mini drone. Foreseeing the time line and the project deliverables, we selected Parrot mini drone which is an open source quad copter. The flight control algorithm would be designed for a 6 Degree of Freedom Mathematical Simulation model in Matlab Software and then implemented on the real plant. After comparison between simulated and real results, trajectory would be designed for a specific Ventilation Duct/Pipe for inspection using the quadcopter on board camera.

Project Objectives

Following are the objectives of the projects

• Literature Review
  • Dynamic Modeling of Quad copter.
  • Classical & Modern Control System (PID , LQR , Kalman filter).
  • Tuning of Control through Bode and Nyquist plot.

• Modelling of the dynamics of the quadrotor using Newton and Euler equation of motion
• Design of the control architecture of the quadrotor dynamic model
• Implementation of the control architecture in Matlab/Simulink
• Tuning of the controller
• Compare the simulation and real world results
• Design of Trajectory for inspecting Ventilation Duct

Project Implementation Method

• The whole project is designed in Matlab and Simulink.
• The project is imported to implement on hard ware through Parrot Mini drone drivers for Matlab.
• The Simulation Results are compared.

Benefits of the Project

• The project opens new gateway for students to easily implement their flight software codes on Parrot mini drone through mat lab and Simulink which helps them to learn more by having the physical sensation of it.
• As these smart aerial robots have numerous applications in our real life. We just need to code them for that specific cause such as we code them for duct inspection. So it will follow the given trajectory and inspect the duct. 

Technical Details of Final Deliverable

Following are the final deliverables

• Mathematical Model of Quad copter
• Controller Design
• Estimator Design for full state estimation (We are working on it (optional))
• Implementation on hardware
• Results comparison (Simulation and on real System)
• Duct Inspection
• Thesis Report

Final Deliverable of the Project Software SystemType of Industry Education , IT Technologies RoboticsSustainable Development Goals Quality EducationRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	42000
Parrot Mambo Drone	Equipment	1	40000	40000
Bluetooth dongle	Equipment	1	2000	2000