Dynamic Modeling and Control of Quadrotor Vehicle

El-Khatib, Mohamed Fawzy; El-Amary, Noha H.; Hashad, A.

doi:10.21608/amme.2012.37092

Cited by 13 publications

(6 citation statements)

References 4 publications

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“…The angular momentum of the quadrotor is mitigated by have a configuration of two clockwise rotating rotors and two anti-clockwise rotating rotors. The diagonally opposite rotors spin in the same direction and yaw control is achieved by increasing or decreasing the angular velocities of the diagonally opposite rotors [21].…”

Section: Problem Formulationmentioning

confidence: 99%

A Model-free Deep Reinforcement Learning Approach To Maneuver A Quadrotor Despite Single Rotor Failure

Sharma,

Poddar,

Sujit

2021

Preprint

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Ability to recover from faults and continue mission is desirable for many quadrotor applications. The quadrotor's rotor may fail while performing a mission and it is essential to develop recovery strategies so that the vehicle is not damaged. In this paper, we develop a model-free deep reinforcement learning approach for a quadrotor to recover from a single rotor failure. The approach is based on Soft-actor-critic that enables the vehicle to hover, land, and perform complex maneuvers. Simulation results are presented to validate the proposed approach using a custom simulator. The results show that the proposed approach achieves hover, landing, and path following in 2D and 3D. We also show that the proposed approach is robust to wind disturbances.

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Section: Problem Formulationmentioning

confidence: 99%

A Model-free Deep Reinforcement Learning Approach To Maneuver A Quadrotor Despite Single Rotor Failure

Sharma,

Poddar,

Sujit

2021

Preprint

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“…The position of the quad-rotor is determined from the thrust T B and attitude of the quad-rotor from Equations 7, (8), and (9). In this case, thrust T B is determined by the thrust coefficient and the angular velocity of the propeller from Equations (3) and (4). The following section discusses the construction of an experimental device.…”

Section: The Unstable Factor Of Flightmentioning

confidence: 99%

“…Elruby et al used software for estimating the moment of inertia. Their quad-rotor system is also a "+" configuration and uses the dynamic defined by Newton-Euler [4]. The research results of flight path tracking have achieved effective results in the two-dimensional plane by using the dynamics described above, but the results of altitude tracking were not satisfying.…”

Section: Introductionmentioning

confidence: 99%

The Experimental Modeling of Quad-Rotor Actuators with Undefined Hardware Errors for Safety-Flight

2020

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The speed error of actuators during the flight of a quad-rotor is included in the attitude error, and this error is immediately corrected by the pilot’s observation. As the control authority of the quad-rotor changes to a computer system, the correction of the error is calculated and performed by the attitude sensor and the mathematical model of the quad-rotor. However, there is a response error to the control signal despite driving the same motor, which causes different results from the model prediction and affects the stability of the flight. Therefore, the response characteristics of hardware represented by the same mathematical model but having errors should be reflected in the modeling of the quad-rotor. In this paper, the response error of the actuators assembled with the same propellers and motors is verified through experiments. The actuators model that reflects this error is presented, and the thrust coefficient range by the propellers is also presented. Additionally, the speed error of actuators due to the voltage drop of the battery was verified through experiments, and a method for applying this error to the actuator model is presented.

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“…The force imbalance will cause the quad copter to tilt to one side and the horizontal component of the thrust force will impart horizontal linear motion to the quad copter (figure 4). If the mass of the quad copter is 'm', then referring to (figure 4), the linear acceleration in the horizontal x-direction can be written as: (10) Using small angle approximation ( < 0.5 rad): (11) Since is small: Thus equation 3, 5, 7, 9, 13 & 14 give us the dynamics of the quad copter in all 6 degrees of freedom. After the dynamical equations have been established, we can move towards the state space modeling of the quad rotor.…”

Section: Horizontal Motionmentioning

confidence: 99%