Modelling and optimal control system design for quadrotor platform – an extended approach

• Autorzy: Zawiski R. , Błachuta M.

Identyfikatory

DOI

10.2478/bpasts-2014-0058

• Języki publikacji: EN

Abstrakty

EN

This article presents the development of a mathematical model of a quadrotor platform and the design of a dedicated control system based on an optimal approach. It describes consecutive steps in development of equations forming the model and including all its physical aspects without commonly used simplifications. Aerodynamic phenomena, such as Vortex Ring State or blade flapping are accounted for during the modelling process. The influence of rotors’ gyroscopic effect is exposed. The structure of a control system is described with an application of the optimal LQ regulator and an intuitive way of creating various flight trajectories. Simulation tests of the control system performance are conducted. Comparisons with models available in the literature are made. Based on above, conclusions are drawn about the level of insight necessary in creation of control-oriented and useable model of a quadrotor platform. New possibilities of designing and verifying models of quadrotor platforms are also discussed.

Słowa kluczowe

EN

mathematical modelling; optimal control; quadrotor platform; autonomous flight

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2014
• Tom: Vol. 62, nr 3
• Strony: 535--550
• Opis fizyczny: Bibliogr. 35 poz., rys., tab., wykr.

Twórcy

autor

Zawiski R.

• Institute of Automatics, Faculty of Automatics, Electronics and Computer Science, Silesian University of Technology, 16 Akademicka St., 44-100 Gliwice, Poland

autor

Błachuta M.

• Institute of Automatics, Faculty of Automatics, Electronics and Computer Science, Silesian University of Technology, 16 Akademicka St., 44-100 Gliwice, Poland

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