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Bi-copter Simulation and Control:

This project demonstrates a Bi-copter desinged in AutoDesk Inventor and controlled in Matlab Simulink environment.

Contents:

Requirements. Quick Start. Controllers. Euler Angles. Noise & Filters. Attitude and altitude control/Position Control.

Requirements:

Matlab 2019b or higher versions.

Quick Start:

Download the project to your local. Open Matlab and navigate to your local folder containing the project. Finally, Run Sim_Script.m file.

Controllers:

The following controllers have been applied to control Bi-copter's attitude and altitude:

  • PID.
  • Super Twisting Sliding Mode Controller(STSMC).
  • Linear/Nonlinear active disturbance rejection control (ADRC).
  • ADRC with Kalman.
  • Fuzzy logic control (FLC)

you can choose any of them by changing 'method' parameter in Sim_Script.m file.

Euler Angles:

you can choose between euler angles getten from 6-DOF joint or from integrating angular speeds of Bi-copter using 'euler_source' parameter.

Noise & Filters:

low-pass filters are used to:

  • Filter noise added to angular speeds.
  • Filter the output of D-term in the chosen controller.
  • Simualate the behave of motors in real Bi-copter (four low-pass filters where added the four inputs).

you can change the parameter of each filter in Sim_Script.m file.

Attitude and altitude control/Position Control:

Choose between controlling Bi-copter attitude and altitude or position control in space using 'method_angle_plane_sw' parameter.