Bond graph modeling and trajectory control of H-drone

Four-rotor drones are unmanned aerial vehicles (UAV) which have found usage in varied application like, surveillance, medical field and entertainment due to their simple design and high payload capacity. This paper presents trajectory tracking control of a H-drone using optimized PD control. The realistic dynamic model of H-drone has been derived using bond graph technique. Then the control scheme using PD controller is presented and the parameters of the controller were tuned using Broyden-Fletcher-Goldfarb-Shanno algorithmic optimization approach for circular and smooth fifth order trajectories. To validate the performance of the optimized controller simulations are run using 20-sim software. The simulation results demonstrate that H-drone efficiently tracks both the trajectories.