Mathematical Modeling With Parameter Identification for Hexarotor System: A Hamiltonian Approach

Abstract

This paper presents a mathematical modeling with parameters identification of Unmanned Aerial Vehicle (UAV) system or hexarotor system using the Hamiltonian approach. The mathematical model of the hexarotor is derived from the Hamiltonian approach which involved the storage, dissipation, and routing of energy elements from the UAV. This UAV model parameters identification method is proposed as an alternative to the commonly used wind tunnel testing, which is complex and tedious. This Hamiltonian model is made of a fully actuated subsystem with roll, pitch, and yaw angles as output, as well as an under-actuated subsystem with position coordinates as its output. Thrust constant, drag constant and speed of hexarotor are determined through the experimental setup while moment of inertia is determined by physical measurement and calculation. The outcome from this research works demonstrates an undemanding, yet effective method of modeling an UAV, and is useful for designing nonlinear controller to perform the important UAV tasks such as taking off, hovering, and landing.