1. Minor Project on Vertical Take-off Landing System SUBMITTED BY:- SHUBHAM SHARMA (10710102811) ABHISHEK ARORA (11410102811) VIBHANSHU JAIN (11610102811) RAZI AHMAD (13210102811)

2. Index About VTOL Systems Objective of our Project About VAAYU(Our Prototype) Statement About The Problem-existing System Simulation using Simulink Results Working Model of VAAYU-UAV Future Plans References

3. About VTOL Systems A vertical take-off and landing (VTOL) aircraft is one that can hover, take off, and land vertically. This classification includes fixed-wing aircraft as well as helicopters and other aircraft with powered rotors, such as cyclogyros/cyclocopters and tilt rotors. A quad copter, also called a quad rotor helicopter, quad rotor, is a multicolor helicopter that is lifted and propelled by four rotors. Next Slide has a picture of Quadcopter.

4. About VTOL Systems The Picture of a VTOL-

5. Objective of Project Objective : Modeling and PID Controller Design for a Quadrotor Unmanned Air Vehicle Our Project presents the modeling of a four rotor vertical take-off and landing (VTOL) unmanned air vehicle known as the quadrotor aircraft. It presents a new model design method for the flight control of an autonomous quad rotor. The dynamic model of the quad-rotor, which is an under actuated aircraft with fixed four pitch angle rotors, will be described. This paper explains the developments of a PID (proportionalintegral- derivative) control method to obtain stability in flying the Quad-rotor flying object. The model has four input forces which are basically the thrust provided by each propeller connected to each rotor with fixed angle. Forward (backward) motion is maintained by increasing (decreasing) speed of front (rear) rotor speed while decreasing (increasing) rear (front) rotor speed simultaneously which means changing the pitch angle. Left and right motion is accomplished by changing roll angle by the same way. The front and rear motors rotate counter-clockwise while other motors rotate clockwise so that the yaw command is derived by increasing (decreasing) counter-clockwise motors speed while decreasing (increasing) clockwise motor speeds.

6. About VAAYU-UAV VAAYU-UAV is a multirotor which represents a technological dream achieved by a team of undergraduate of AIACTR students with the aim to develop a VTOL system for Aerial Surveillance. The VAAYU has been designed by fusion of research work in the field of mechanical, electronics, control system, and embedded programming.

7. Statement About The Problem- existing System In contrast to terrestrial mobile robots, for which it is often possible to limit the model to kinematics, the control of aerial robots (quadrotor) requires dynamics in order to account for gravity effects and aerodynamic forces. In general, existing quadrotor dynamic models are developed on the hypothesis of a unique rigid body which is a restrictive hypothesis that does not account for the fact that the system is composed of five rigid bodies: four rotors and a crossing body frame. This makes the explanation of several aspects, like gyroscopic effects, very difficult. Additionally, simplification hypotheses are generally introduced early in the model development and leads in general to misleading interpretations

8. Simulation Using Simulink

13. Results

14. Working Model-VAAYU Below is the CATIA Design of Quad copter created to calculate Moment of Inertia and Center of Mass of the VTOL System.

15. Working Model-VAAYU

16. Working Model-VAAYU Picture of Arduino IDE Programs

17. Future Plans Simulink Graph Plot Perfect Calibration Navigation and collision avoidance Active/passive vibration suppression User interface/mission management Testing and applications Camera Integration GPS Point selection Navigation

18. References 1) P. I. Corke, Robotics, vision and control: fundamental algorithms in MATLAB, ser. Springer tracts in advanced robotics. Berlin: Springer, 2011, no. v. 73. 2) M. D. L. C. de Oliveira, “Modeling, identification and control of a quadrotor aircraft,” Ph.D. dissertation, Czech Technical University. 3) Hamel T. Mahoney r. Lozano r. Et Ostrowski j. “Dynamic modelling and configuration stabilization for an X4-flyer.” In the 15éme IFAC world congress’, Barcelona, Spain. 2002. 4) UAVs. New world vistas: Air and space for the 21st centry. Human systems and biotechnology systems, 7.0:17–18,1997. 5) Pounds, P., Mahony, R., Hynes, P., and Roberts, J., “Design of a Four- Rotor Aerial Robot,” Australian Conference on Robotics and Automation, Auckland, November 2002. 6) Bouabdallah, S., Murrieri, P., and Siegwart, R., “Design and Control of an Indoor Micro Quadrotor,” ICRA, New Orleans, April 2004.

19. Thanking You