Design of a Robotic Bicopter

Albayrak O. B., Ersan Y., Bagbasi A. S., Turgut Basaranoglu A., Arıkan K. B.

7th IEEE International Conference on Control, Mechatronics and Automation, ICCMA 2019, Delft, Netherlands, 6 - 08 November 2019, pp.98-103 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/iccma46720.2019.8988694
  • City: Delft
  • Country: Netherlands
  • Page Numbers: pp.98-103
  • Keywords: flying robots, bicopter, flight testing, pid tuning
  • TED University Affiliated: Yes

Abstract

© 2019 IEEE.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 realtime performance is monitored and evaluated during the tests and it is seen that the system is suitable for indoor type of robotic applications.