Calculation of Control Input Using Bilinear Interpolation Method in Unmanned Aerial Vehicles

Abstract

Unmanned aerial vehicles (UAVs) are widely used for both civilian and military purposes today, UAVs are classified into two main categories: fixed-wing and rotary-wing aircraft. Fixed-wing aircraft are more advantageous than rotary-wing aircraft due to their higher payload capacity. On the other hand, rotary-wing aircraft are notable for their high maneuverability and vertical takeoff and landing capabilities. In this study, the 6-freedom model of an unmanned aerial vehicle is explained and Proportional Integral Derivative (PID) controller is designed using the Newton-Euler equation. Additionally, the force exerted is dependent on both Pulse Width Modulation (PWM) and battery voltage. The relationship between PWM, battery voltage, and thrust is calculated using bilinear interpolation management with MATLAB.