Dynamic modelling and control of hexarotor system using port control hamiltonian (PCH) and PID approach

Chiew, Hao Lin (2021) Dynamic modelling and control of hexarotor system using port control hamiltonian (PCH) and PID approach. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

In recent years, the rapid development of technology and internet has made drones a commercial commodity. The engineer always finds a way to optimize drone models with various classical mechanics methods and Hamiltonian is well known for energy conservation with its powerful geometric techniques for studying dynamical systems. Hence, the applicability of the Hamiltonian model on hexarotor system is awaited to be examined. Therefore, this study was developing a mathematical model of hexarotor system using port control Hamiltonian (PCH) and Proportional-Integral-Derivative (PID) approach. To investigate this statement, the vertical take-off landing experiments were conducted in a controlled environment by simulate hexarotor operate on the desired path and observe its translational and rotational dynamics. PI, PD, and PID controller were implemented into hexarotor system, and PID controller obtained 30% better stability than PD controller, 70% less error than PI controller. In comparison to other controllers, the overall performance of PID controller is excellent.

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