Mathematical Modelling of Unmanned Aerial Vehicles with Four Rotors

Benić, Zoran; Piljek, Petar; Kotarski, Denis

doi:10.7906/indecs.14.1.9

Cited by 60 publications

(31 citation statements)

References 3 publications

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“…Some quadrotor physical properties are measured in earth fixed frame (roll, pitch and yaw angles, angular velocities), while some properties are measured in body fixed frame (linear accelerations) [19].…”

Section: Quadrotor Kinematic Modelmentioning

confidence: 99%

Farkli Uçuş Durumlari Için Quadcopter Dinamik Modeli ve Simulasyonu

Oktay¹,

Köse²

2019

European Journal of Science and Technology

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In this paper, a four-rotor unmanned aerial vehicle was modeled, a control system was designed and performance evaluations were made. For the control system, a separate mathematical model of the unmanned aerial vehicle longitudinal, lateral and vertical takeoff and landing operations is omitted and is expressed as a state space model. The mathematical model of the wind disturbances that will affect the unmanned aerial vehicle during the flight was created and the situation was added to the space model. Proportional Integral Derivative (PID) control algorithm was used as the control. Unmanned aerial vehicle modeling was done in Solidworks and simulations were done in Matlab / Simulink program.

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Section: Quadrotor Kinematic Modelmentioning

confidence: 99%

Farkli Uçuş Durumlari Için Quadcopter Dinamik Modeli ve Simulasyonu

Oktay¹,

Köse²

2019

European Journal of Science and Technology

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“…Quadcopter dynamics is derived from the quadcopter dynamic model [2]. The main equations are quadcopter accelerations as functions of the control variables:…”

Section: Control System Designmentioning

confidence: 99%

Control Design for Unmanned Aerial Vehicles with Four Rotors

Kotarski

Benić²,

Krznar³

2016

: Interdiscip. Descr. Complex Syst.

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Altitude and attitude controlled quadcopter model is used for the behavior and control algorithm testing, before the implementation on the experimental setup. The main objective is the control system design which will achieve good task performance in the combination with the quadcopter dynamic model. Also, for the control model, it is important to be relatively easy to modify for the use of other control algorithms and to be easy to implement on the experimental setup. At the beginning of this article, the control system design process is described. Quadcopter dynamics equations are simplified by applying several assumptions and in that form are used for the controller synthesis. Quadcopter control system is split into inner and outer control loop because the quadcopter is underactuated system which means that the direct control of all of the degrees of freedom is not possible. In the second part, the PI-D control algorithm is described which is applied on the simplified quadcopter dynamic model. The inner loop controls roll, pitch and yaw angles together with the quadcopter altitude. Its outputs are four control variables. Outer loop controls quadcopter X and Y position. Its outputs are roll and pitch desired angles. Regulated quadcopter model behavior is shown for the three types of task. First, the achieving of position in space is simulated. Second, the reference trajectory tracking is shown. Last task shown is the reference trajectory tracking with added periodical disturbances. Simulations show bounded positions error of the regulated quadcopter system using PI-D controller for the different types of tasks performed under different conditions.

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“…The quadcopter's frame is symmetrical, light and thin construction of propulsors. Propulsor motors and propellers are connected directly and all propulsor axes are fixed and parallel [10]. In most of the quadcopter, only the motor speed is controlled and this means that attitude and altitude that the system produced are based solely on the motor propeller speed [11].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Simulation of Tilted Rotor Quadcopter

‘Adzam,

Kuntjoro,

Abdullah*

et al. 2019

IJITEE

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Application of quadcopter unmanned aerial vehicle (UAV) has already become common today. As the name suggests, quadcopter has four rotors and these rotors can be classified into two types: fixed and tilted rotors. The maneuvering of quadcopter using the fixed rotor is achieved through the thrust differential. On contrary, a tilted rotor can be rotated or tilted and the resultant thrust component will move the quadcopter longitudinally. In this study, the dynamic behavior of HMF SL300 tiltrotor quadcopter is analyzed through simulation. The study is limited to longitudinal behavior of the HMF SL300 tiltrotor quadcopter in z- and x-axis. A Simulink model has been developed based on the longitudinal dynamic model of the quadcopter and acceleration, velocity and displacement of the quadcopter in z- and x-axis when the tilt angle is varied are presented. Based on the findings from the simulation, it can be concluded that the higher the tilt angle, the higher the rate of motion in x-axis but the lower the rate of motion in z-axis

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Mathematical Modelling of Unmanned Aerial Vehicles with Four Rotors

Cited by 60 publications

References 3 publications

Farkli Uçuş Durumlari Için Quadcopter Dinamik Modeli ve Simulasyonu

Farkli Uçuş Durumlari Için Quadcopter Dinamik Modeli ve Simulasyonu

Control Design for Unmanned Aerial Vehicles with Four Rotors

Dynamic Simulation of Tilted Rotor Quadcopter

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