TY  - JOUR
T1  - Trajectory Tracking of a Tri-Copter Vertical Take-Off and Landing UAV
AU - M. Ali Ahmed, Nada AU - H. Saleh, Muna 
JO  - Journal of Engineering and Applied Sciences
VL  - 14
IS  - 17
SP  - 6223
EP  - 6230
PY  - 2019
DA  - 2001/08/19
SN  - 1816-949x
DO  - jeasci.2019.6223.6230
UR  - https://makhillpublications.co/view-article.php?doi=jeasci.2019.6223.6230
KW  - Tri-copter
KW  -PID
KW  -IBSM
KW  -PSO
KW  -trajectory tracking
KW  -ITAE
AB  - A tri-copter is a newer design of multirotor drones that can be used in narrow places and indoor
environments because of its small size and weight. In this study, the model has been designed by Newton-Euler
law and two controllers are used to test the model stability, the first controller is the Proportional Integral
Derivative (PID) linear control and the second is the Integral Back-stepping Sliding Mode (IBSM) nonlinear
control and both controller’s gains have been tuned by a Particle Swarm Optimization method (PSO) to minimize
the Integral Time Absolute Error (ITAE) for the system. After tuning the controllers, they are tested with step
signals and many tracks have been tested with both controllers and the results are obtained in MATLAB
Simulink R2017b.
ER  -