Multi-rotor control formulation and simulation for parcel delivery

• Main Author: Nguyen, Trinh Tuan Anh
• Other Authors: Mir Feroskhan
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2024
• Subjects: Engineering
• Online Access: https://hdl.handle.net/10356/177586
• Institution: Nanyang Technological University

This study presents the formulation and simulation of a multi-rotor control system, specifically designed for optimizing parcel delivery. Leveraging the capabilities of Simscape within the MATLAB environment, the project models a quadrotor UAV (Unmanned Aerial Vehicle) tasked with urban parcel delivery. Our research objectives focused on validating the UAV's physical and control system dynamics through extensive simulations, ensuring accurate payload handling and navigation efficiency. A comprehensive control architecture was developed that included both position and attitude control loops, facilitating the UAV's navigation through complex urban landscapes. The simulation process meticulously replicated real-world delivery scenarios, including varying payload weights and route complexities. The findings demonstrate that the UAV consistently maintained stability and control, effectively managed different payload dynamics, and adhered closely to predetermined flight paths. The implications of the research suggest substantial potential for UAVs to revolutionize urban parcel delivery, offering significant improvements in efficiency and reduction in delivery time, while also alleviating urban congestion and minimizing environmental impact. Future work will explore enhancements in control algorithms to address external disturbances such as wind and turbulence and validate these simulations through real-world trials, setting the stage for practical implementations.