A Survey of Modelling and Identification of Quadrotor Robot

Abstract

A quadrotor is a rotorcraft capable of hover, forward flight, and VTOL and is emerging as a fundamental research and application platform at present with flexibility, adaptability, and ease of construction. Since a quadrotor is basically considered an unstable system with the characteristics of dynamics such as being intensively nonlinear, multivariable, strongly coupled, and underactuated, a precise and practical model is critical to control the vehicle which seems to be simple to operate. As a rotorcraft, the dynamics of a quadrotor is mainly dominated by the complicated aerodynamic effects of the rotors. This paper gives a tutorial of the platform configuration, methodology of modeling, comprehensive nonlinear model, the aerodynamic effects, and model identification for a quadrotor.

Controlling the Dynamics and Stabilization of the Altitude and Attitude of An Underactuated Tri-rotor UAV

“…The model simplification of a tri-rotor UAV system is a typical underactuated system and 6-degree of freedom (6-DOF) via four control inputs typically named as altitude, lateral, longitudinal and angular moments ( , , , ) [33][34][35]. But in fact, in aircraft systems there are two non-holonomic constraints that is: (14) Due to the presence of two non-holonomic constraints, causes the vehicle to realize the full meaning of six degrees of freedom.…”

Neural Network Control System of UAV Altitude Dynamics and Its Comparison with the PID Control System

“…The quadrotor is a basically unstable aerial vehicle [4]. Such instability-although quadrotor has been successfully flying in 1920-has inhibited the development of the practical quadrotor until recent years.…”

Applications of Formal Languages to Management of Manned and Unmanned Aircraft

“…In the literature, the motion of a quadrotor is modelled considering it a rigid body [133][134][135][136][137][138][139][140][141][142]. The first AMM used as the starting point for the QR-AIDL, which also considers the quadrotor a rigid body, is explained in appendix B.…”

“…As part of quadrotor controller research, several authors have modeled the dynamics of a quadrotor using different methods [133][134][135][136][137][138]. The two dominating methods are the Euler-Lagrange formalism and the NewtonEuler formalism [139]. In this thesis, the model proposed in [140] is used as the starting point, which was modeled applying the Newton-Euler formalism.…”

“…In this thesis, the model proposed in [140] is used as the starting point, which was modeled applying the Newton-Euler formalism. This model does not take into account some aerodynamic effects such as rolling moment (also called blade flapping in the literature), ground and ceiling effects, hub forces, or friction [139]; and it was later improved to include most of these effects [133,134]. However, this earlier model -with the addition of friction forces-is detailed enough for the needs of this thesis.…”