Design, Modelling and Control of an Eight-Rotors UAV with Asymmetric Configuration for Use in Remote Sensing Systems

Abstract

The use of multirotor unmanned aerial vehicles (UAV), which can take-off and landing vertically, is gradually expanding. Although there are many types of these vehicles with standard configuration, non-standard configurations may be required for special purposes usage. So, an octocopter UAV with asymmetric configuration is proposed in this study. In particular, this asymmetrically configured octocopter is intended to be used for imaging or mapping purposes, and may be a solution to widen the viewing angle of the camera or any sensor placed on the vehicle, especially in the use of multiple cameras and sensors. The mathematical model of this proposed UAV system was obtained and the trajectory tracking was performed using PID control method. The control parameters of the controller were determined using Grey Wolf Optimizer (GWO). Considering the propellers determined in two different sizes due to its asymmetrical structure, it has been observed that the proposed UAV performs a satisfactory trajectory tracking.

Keywords

• Asymmetric UAV
• Design
• PID Control
• GWO Optimization
• Remote Sensing

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