Mathematical Modelling and Identification of a Quadrotor
Motivated by the important growth of VTOL vehicles research such as quadrotors and to a small extent autonomous flight, a quadrotor dynamical model is presented in this work. The purpose of this study is to get a better understanding of its flight dynamics. It is an underactuated system. So, a simpl...
- Autores:
-
Cárdenas R., César A.
COLLAZOS MORALES, CARLOS ANDRES
P. Ospina, Juan
Sánchez, Joaquín F.
Caro-Ruiz, Claudia
Hugo Grisales, Victor
Ariza Colpas, Paola Patricia
De-La-Hoz-Franco, Emiro
R. González, Ramón E.
- Tipo de recurso:
- Article of journal
- Fecha de publicación:
- 2020
- Institución:
- Corporación Universidad de la Costa
- Repositorio:
- REDICUC - Repositorio CUC
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.cuc.edu.co:11323/7355
- Acceso en línea:
- https://hdl.handle.net/11323/7355
https://doi.org/10.1007/978-3-030-58799-4_19
https://repositorio.cuc.edu.co/
- Palabra clave:
- Quadrotor
VTOL
Flight dynamics
UAV
- Rights
- openAccess
- License
- Attribution-NonCommercial-NoDerivatives 4.0 International
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Mathematical Modelling and Identification of a Quadrotor |
| title |
Mathematical Modelling and Identification of a Quadrotor |
| spellingShingle |
Mathematical Modelling and Identification of a Quadrotor Quadrotor VTOL Flight dynamics UAV |
| title_short |
Mathematical Modelling and Identification of a Quadrotor |
| title_full |
Mathematical Modelling and Identification of a Quadrotor |
| title_fullStr |
Mathematical Modelling and Identification of a Quadrotor |
| title_full_unstemmed |
Mathematical Modelling and Identification of a Quadrotor |
| title_sort |
Mathematical Modelling and Identification of a Quadrotor |
| dc.creator.fl_str_mv |
Cárdenas R., César A. COLLAZOS MORALES, CARLOS ANDRES P. Ospina, Juan Sánchez, Joaquín F. Caro-Ruiz, Claudia Hugo Grisales, Victor Ariza Colpas, Paola Patricia De-La-Hoz-Franco, Emiro R. González, Ramón E. |
| dc.contributor.author.spa.fl_str_mv |
Cárdenas R., César A. COLLAZOS MORALES, CARLOS ANDRES P. Ospina, Juan Sánchez, Joaquín F. Caro-Ruiz, Claudia Hugo Grisales, Victor Ariza Colpas, Paola Patricia De-La-Hoz-Franco, Emiro R. González, Ramón E. |
| dc.subject.spa.fl_str_mv |
Quadrotor VTOL Flight dynamics UAV |
| topic |
Quadrotor VTOL Flight dynamics UAV |
| description |
Motivated by the important growth of VTOL vehicles research such as quadrotors and to a small extent autonomous flight, a quadrotor dynamical model is presented in this work. The purpose of this study is to get a better understanding of its flight dynamics. It is an underactuated system. So, a simplified and clear model is needed to implement controllers on these kind of unmanned aerial systems. In addition, a computational tool is used for validation purposes. For future works embedded or intelligent control systems can be developed to control them. Gyroscopic and some aerodynamics effects are neglected. |
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2020 |
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2020-11-19T14:37:57Z |
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2020-11-19T14:37:57Z |
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2020 |
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https://doi.org/10.1007/978-3-030-58799-4_19 |
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Corporación Universidad de la Costa |
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REDICUC - Repositorio CUC |
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https://repositorio.cuc.edu.co/ |
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eng |
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eng |
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https://link.springer.com/bookseries/558 |
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1. Bresciani, T.: Modelling, identification and control of a quadrotor helicopter. MSc theses (2008) 2. Cárdenas Ruiz, C.A.: Performance study of the flight control and path planning for a UAV type Quadrotor. Ingeniería Mecatrónica (2018) 3. Collazos, C., et al.: State estimation of a dehydration process by interval analysis. In: Figueroa-García, J.C., López-Santana, E.R., Rodriguez-Molano, J.I. (eds.) WEA 2018. CCIS, vol. 915, pp. 66–77. Springer, Cham (2018). https://doi.org/10.1007/978-3-030-00350-0_6 4. Cook, M.V.: Flight Dynamics Prıncıples. Elsevıer (2007) 5. Cork, L.R.: Aircraft dynamic navigation for unmanned aerial vehicles. Ph.D. thesis. Queensland University of Technology (2014) 6. Cowling, I.: Towards autonomy of a Quadrotor UAV (2008) 7. Habib, M.K., Abdelaal, W.G.A., Saad, M.S., et al.: Dynamic modeling and control of a Quadrotor using linear and nonlinear approaches (2014) 8. Huang, H., et al.: Aerodynamics and control of autonomous Quadrotor helicopters in aggressive maneuvering. In: IEEE International Conference on Robotics and Automation, ICRA 2009, pp. 3277–3282. IEEE (2009) 9. Ireland, M.L.: Investigations in multi-resolution modelling of the Quadrotor micro air vehicle. Ph.D. thesis. University of Glasgow (2014) 10. Jiménez-Cabas, J., et al.: Robust control of an evaporator through algebraic Riccati equations and d-K iteration. In: Misra, S., et al. (eds.) ICCSA 2019. LNCS, vol. 11620, pp. 731–742. Springer, Cham (2019). https://doi.org/10.1007/978-3-030-24296-1_58 11. Leishman, G.J.: Principles of Helicopter Aerodynamics with CD Extra. Cambridge University Press, Cambridge (2006) 12. Lugo-Cárdenas, I., et al.: Dubins path generation for a fixed wing UAV. In: 2014 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 339–346. IEEE (2014) 13. Malang, Y.: Design and Control of a Vertical Takeo and Landing Fixed-wing Unmanned Aerial Vehicle. Ph.D. thesis (2016) 14. Mulder, S.: Flight Dynamics (2007) 15. Swartling, J.O.: Circumnavigation with a group of Quadrotor helicopters (2014) 16. Pharpatara, P.: Trajectory planning for aerial vehicles with constraints. Theses. Université Paris-Saclay; Université d’Evry-Val-d’Essonne, September 2015. https://tel.archives-ouvertes.fr/tel-01206423 17. Poyi, G.T.: A novel approach to the control of quad-rotor helicopters using fuzzy-neural networks (2014) 18. Sabatino, F.: Quadrotor control: modeling, nonlinear control design, and simulation (2015) 19. Voos, H.: Nonlinear control of a Quadrotor micro-UAV using feedback linearization. In: International Conference on Mechatronics, ICM 2009, pp. 1–6. IEEE (2009) |
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Cárdenas R., César A.COLLAZOS MORALES, CARLOS ANDRESP. Ospina, JuanSánchez, Joaquín F.Caro-Ruiz, ClaudiaHugo Grisales, VictorAriza Colpas, Paola PatriciaDe-La-Hoz-Franco, EmiroR. González, Ramón E.2020-11-19T14:37:57Z2020-11-19T14:37:57Z2020https://hdl.handle.net/11323/7355https://doi.org/10.1007/978-3-030-58799-4_19Corporación Universidad de la CostaREDICUC - Repositorio CUChttps://repositorio.cuc.edu.co/Motivated by the important growth of VTOL vehicles research such as quadrotors and to a small extent autonomous flight, a quadrotor dynamical model is presented in this work. The purpose of this study is to get a better understanding of its flight dynamics. It is an underactuated system. So, a simplified and clear model is needed to implement controllers on these kind of unmanned aerial systems. In addition, a computational tool is used for validation purposes. For future works embedded or intelligent control systems can be developed to control them. Gyroscopic and some aerodynamics effects are neglected.Cárdenas R., César A.COLLAZOS MORALES, CARLOS ANDRES-will be generated-orcid-0000-0002-1996-1384-600P. Ospina, JuanSánchez, Joaquín F.Caro-Ruiz, ClaudiaHugo Grisales, VictorAriza Colpas, Paola Patricia-will be generated-orcid-0000-0003-4503-5461-600De-La-Hoz-Franco, Emiro-will be generated-orcid-0000-0002-4926-7414-600R. González, Ramón E.application/pdfengCorporación Universidad de la Costahttps://link.springer.com/bookseries/5581. Bresciani, T.: Modelling, identification and control of a quadrotor helicopter. MSc theses (2008)2. Cárdenas Ruiz, C.A.: Performance study of the flight control and path planning for a UAV type Quadrotor. Ingeniería Mecatrónica (2018)3. Collazos, C., et al.: State estimation of a dehydration process by interval analysis. In: Figueroa-García, J.C., López-Santana, E.R., Rodriguez-Molano, J.I. (eds.) WEA 2018. CCIS, vol. 915, pp. 66–77. Springer, Cham (2018). https://doi.org/10.1007/978-3-030-00350-0_64. Cook, M.V.: Flight Dynamics Prıncıples. Elsevıer (2007)5. Cork, L.R.: Aircraft dynamic navigation for unmanned aerial vehicles. Ph.D. thesis. Queensland University of Technology (2014)6. Cowling, I.: Towards autonomy of a Quadrotor UAV (2008)7. Habib, M.K., Abdelaal, W.G.A., Saad, M.S., et al.: Dynamic modeling and control of a Quadrotor using linear and nonlinear approaches (2014)8. Huang, H., et al.: Aerodynamics and control of autonomous Quadrotor helicopters in aggressive maneuvering. In: IEEE International Conference on Robotics and Automation, ICRA 2009, pp. 3277–3282. IEEE (2009)9. Ireland, M.L.: Investigations in multi-resolution modelling of the Quadrotor micro air vehicle. Ph.D. thesis. University of Glasgow (2014)10. Jiménez-Cabas, J., et al.: Robust control of an evaporator through algebraic Riccati equations and d-K iteration. In: Misra, S., et al. (eds.) ICCSA 2019. LNCS, vol. 11620, pp. 731–742. Springer, Cham (2019). https://doi.org/10.1007/978-3-030-24296-1_5811. Leishman, G.J.: Principles of Helicopter Aerodynamics with CD Extra. Cambridge University Press, Cambridge (2006)12. Lugo-Cárdenas, I., et al.: Dubins path generation for a fixed wing UAV. In: 2014 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 339–346. IEEE (2014)13. Malang, Y.: Design and Control of a Vertical Takeo and Landing Fixed-wing Unmanned Aerial Vehicle. Ph.D. thesis (2016)14. Mulder, S.: Flight Dynamics (2007)15. Swartling, J.O.: Circumnavigation with a group of Quadrotor helicopters (2014)16. Pharpatara, P.: Trajectory planning for aerial vehicles with constraints. Theses. Université Paris-Saclay; Université d’Evry-Val-d’Essonne, September 2015. https://tel.archives-ouvertes.fr/tel-0120642317. Poyi, G.T.: A novel approach to the control of quad-rotor helicopters using fuzzy-neural networks (2014)18. Sabatino, F.: Quadrotor control: modeling, nonlinear control design, and simulation (2015)19. Voos, H.: Nonlinear control of a Quadrotor micro-UAV using feedback linearization. In: International Conference on Mechatronics, ICM 2009, pp. 1–6. IEEE (2009)Attribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2International Conference on Computational Science and Its Applicationshttps://link.springer.com/chapter/10.1007/978-3-030-58799-4_19QuadrotorVTOLFlight dynamicsUAVMathematical Modelling and Identification of a QuadrotorArtículo de revistahttp://purl.org/coar/resource_type/c_6501http://purl.org/coar/resource_type/c_2df8fbb1Textinfo:eu-repo/semantics/articlehttp://purl.org/redcol/resource_type/ARTinfo:eu-repo/semantics/acceptedVersionPublicationORIGINALMathematical Modelling and Identification of a Quadrotor.pdfMathematical Modelling and Identification of a Quadrotor.pdfapplication/pdf80079https://repositorio.cuc.edu.co/bitstreams/a1d6dace-a033-47a9-9149-e650537ec96d/download0ad0e83fb0c4c40ee38d9c6079b279dfMD51CC-LICENSElicense_rdflicense_rdfapplication/rdf+xml; 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