this presentation is about vertical takeoff and landing

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

9. Simulation Using Simulink

10. Simulation Using Simulink

11. Simulation Using Simulink

12. 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