MODELING THE EFFECTS OF EXTERNAL DISTURBANCES ON A QUADROTOR MINI-UAV
Zoaritsihoarana Fitiavana Avo Tongalafatra, Rastefano Elisée, Herinantenaina Edmond Fils · 2019
With the progress of Technology, the use of Unmanned Aerial Vehicle called UAV is inescapable. Despite the fact that these machines are very useful, some problems can occur. There can be disturbances that can appears in different form. The main goals of this paper are to find the origin of some of the perturbations and to give solutions to avoid them. Indeed, when the UAV are in appropriate environment, they correctly receive the signals that are sent. So the UAV can carry out the required actions. However, if the environment contain disturbances, the UAV is affected. Therefore, it cant correctly receive the signals. These disturbances can be wind, rain, gravity or something else. In this article, some functioning principle of the quadrotor mini-UAV are explained. The analysis of the equation of movement is realized. The angles of Euler and the quaternions are therefore indispensable. In order to solve the problem of disturbances, we have to know something about it. Especially, we will see some information about how the wind comes about. So, we also give the effects of external perturbations like wind. We will see how it affects the UAV. Then, we will give some corrections to the effects of these external perturbations. All of that are possible thanks to the MATLAB software. As a matter of fact, an application is developed and written in M-files. The former equations are used in the programs. Graphic interfaces are built to facilitate the use of the application. The results are given as curves. These curves give first the operation of the UAV without perturbations. They also give the operation of the UAV with disturbances before and after the correction.