Mathematical Modeling, Design and Development of Light-Weight Polyvinyl Chloride (PVC) Pipe Based Quadrotor for Monitoring an Outdoor Environment

Abstract

The quadcopter, also known as an unmanned aerial vehicle (UAV), is a revolutionary innovation that has a great deal of potential. Modern quadrotors are transforming into small, powerful, light-weight, and agile vehicles. For the study, a variety of multirotor configurations were created before settling on a quadcopter structure. Our current focus is on mounting and designing a new polyvinyl chloride (PVC) pipe-based outdoor quadrotor setup. The quadcopter's controller is built based on the estimated mass output by decomposing the mathematical model, selecting the required motors, and using coherent electronic modules to track the outdoor environment. Quadrotor will take-off without generating any torque in the body casing. Rotors attached with motors generate thrust in the upward direction entirely based on the shape and dimension of the rotors. The proposed algorithm has strengthened the theory of nonlinear system output feedback control. The output control of a nonlinear system with parametric and functional uncertainties, as well as the input delay, is the most significant problem the configuration's materials were solely based on mass and forces acting on them. In this research we proposed a delayed roll and pitch angle reaction with standard specifications, and the faster roll and pitch angle reaction with appropriate parameters Quadrotor serves as the central body, tracking all controllable functions. Test results are then presented in order to show balanced flight performance.