The role of propeller aerodynamics in the model of a quadrotor UAV

Bristeau, Pierre-Jean; Martin, Philippe; Salaün, Erwan; Petit, Nicolas

doi:10.23919/ecc.2009.7074482

Cited by 119 publications

(84 citation statements)

References 6 publications

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“…Pounds et al [2006], Hoffmann et al [2007] and studied analytically in particular in Bristeau et al [2009]. As has been shown in Bristeau et al [2009], the observed aerodynamics drag induced by the rotors during a translational motion are non negligible.…”

Section: Velocity Estimation Thanks To Aerodynamics Modelmentioning

confidence: 91%

“…In this article, we present the technology included in this system. To obtain the presented results, the algorithms embedded in the AR.Drone contains state-of-the art low-cost navigation methods, video processing algorithms, combined with an innovative usage of an aerodynamics model which previous fine theoretical studies (see Bristeau et al [2009]) permit to stress crucial information serving as a robust estimate of the air speed of the vehicle.…”

Section: Introductionmentioning

confidence: 99%

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The Navigation and Control technology inside the AR.Drone micro UAV

Bristeau¹,

Callou

Vissière

et al. 2011

IFAC Proceedings Volumes

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279

155

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This paper exposes the Navigation and Control technology embedded in a recently commercialized micro Unmanned Aerial Vehicle (UAV), the AR.Drone, which cost and performance are unprecedented among any commercial product for mass markets. The system relies on state-of-the-art indoor navigation systems combining low-cost inertial sensors, computer vision techniques, sonar, and accounting for aerodynamics models.

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Section: Velocity Estimation Thanks To Aerodynamics Modelmentioning

confidence: 91%

Section: Introductionmentioning

confidence: 99%

The Navigation and Control technology inside the AR.Drone micro UAV

Bristeau¹,

Callou

Vissière

et al. 2011

IFAC Proceedings Volumes

Self Cite

279

155

View full text Add to dashboard Cite

show abstract

“…g is the acceleration of free fall and k is a constant which depends on the propeller shape and the air density [7].…”

Section: ) Model Of the Forcesmentioning

confidence: 99%

“…More precisely, the dynamic description of the quadrotor in mechanical and aerodynamic senses is still a sensitive subject. As briefly depicted in [7], the location of the center of gravity c.g. given by the battery, sensors, on-board computer and eventually detachable payload such as camera, affects the stability and the dynamic performances of the quadrotor.…”

Section: Introductionmentioning

confidence: 99%

Robust control for an off-centered quadrotor

Raharijaona

Bateman

2011

2011 19th Mediterranean Conference on Control &Amp; Automation (MED)

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Abstract-The development of quadrotor unmanned aerial vehicles -UAVs-in potential civil applications is conditioned by the embedded elements such as removable payload, miniature actuators, sensors and power storage. As simple as the structure of the quarotor is, the dynamic behavior is complex. The paper details a model of a quadrotor which considers the effects of the location of the center of gravity and the gyroscopic torques due to the derivative of the speed propellers. A simple control law in order to regulate the angular velocities and to track angular references is designed. Time domain constraints and parameters which belong to a polytope define the basis of the regulator synthesis. The relevance of the study is fulfilled thanks to numerical simulations and experimental plateform is presented.

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“…During these aggressive flights, the quadcopters are affected by various aerodynamic effects, such as blade flapping [8] and thrust variation [9] due to changes in the induced velocities. Hence, performing extreme maneuvers result in high power consumption peaks and overall high power consumption, which drains the battery capacity rapidly.…”

Section: Introductionmentioning

confidence: 99%

Vertical modeling of a quadcopter for mass estimation and diagnosis purposes

Linder

Hendeby

et al. 2017

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)

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Abstract-In this work, we estimate a model of the vertical dynamics of a quadcopter and explain how this model can be used for mass estimation and diagnosis of system changes. First, a standard thrust model describing the relation between the calculated control signals of the rotors and the thrust that is commonly used in literature is estimated. The estimation results are compared to those using a refined thrust model and it turns out that the refined model gives a significant improvement. The combination of a nonlinear model and closed-loop data poses some challenges and it is shown that an instrumental variables approach can be used to obtain accurate estimates. Furthermore, we show that the refined model opens up for fault detection of the quadcopter. More specifically, this model can be used for mass estimation and also for diagnosis of other parameters that might vary between and during missions.

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The role of propeller aerodynamics in the model of a quadrotor UAV

Cited by 119 publications

References 6 publications

The Navigation and Control technology inside the AR.Drone micro UAV

The Navigation and Control technology inside the AR.Drone micro UAV

Robust control for an off-centered quadrotor

Vertical modeling of a quadcopter for mass estimation and diagnosis purposes

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