Design of a Robotic Bicopter

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Date

2019

Authors

Arıkan, Kutluk Bilge
Ersan, Yagmur
Bagbasi, Aysen Suheyla
Basaranoglu, Ahmet Turgut
Arikan, Kutluk Bilge

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Ieee

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Department of Mechatronics Engineering
Our purpose in the program is to educate our students for contributing to universal knowledge by doing research on contemporary mechatronics engineering problems and provide them with design, production and publication skills. To reach this goal our post graduate students are offered courses in various areas of mechatronics engineering, encouraged to do research to develop their expertise and their creative side, as well as develop analysis and design skills.

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Abstract

This article presents a Bicopter type of a flying robot with two rotary-wing units which are placed in a tandem form on the chassis. The rotors are tilted by the aid of the tilt mechanism. Cascaded type of PID controllers are designed on the dynamical models for the attitude and altitude dynamics. The simulated control systems are implemented and tuned on the Naze32 flight controller which is connected to a Raspberry Pi single board computer for real-time applications. The real-time performance is monitored and evaluated during the tests and it is seen that the system is suitable for indoor type of robotic applications.

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Keywords

flying robots, bicopter, flight testing, pid tuning

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Citation

4

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Source

7th IEEE International Conference on Control, Mechatronics and Automation(ICCMA) -- NOV 06-08, 2019 -- Delft Univ Technol, Delft, NETHERLANDS

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Start Page

98

End Page

103

URI

https://doi.org/10.1109/iccma46720.2019.8988694
 https://hdl.handle.net/20.500.14411/2736

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