An adequate mathematical model of four-rotor flying robot in the context of control simulations

• Autorzy: Gardecki S. , Giernacki W. , Goslinski J. , Kasinski A.

Identyfikatory

DOI

10.14313/JAMRIS_2-2014/13

• Języki publikacji: EN

Abstrakty

EN

In this paper a model of the dynamics of four-rotor flying robot is described in details. Control design must be preceded by the modeling and subsequent analysis of the robot behavior in simulator. It is therefore necessary to develop the mathematical model as accurate as it is possible. The paper contains a detailed derivation of the mathematical model in the context of physics laws affecting the quadrocopter. The novelty of presented notation is an extention of Coriolis forces in linear acceleration and the gyroscopic effect on angular acceleration. In the validation phase, the mathematical model was verified with the use of proposed control algorithms. Simulation studies have demonstrated the adequacy of a MATLAB model to properly reflect the real quadrocopter dynamics. This would allow for its use in the simulator and afterwards to implement and verify of control laws on the real fourrotor flying robot.

Słowa kluczowe

EN

unmanned aerial vehicle (UAV); quadrocopter; modeling; mathematical model

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2014
• Tom: Vol. 8, No. 2
• Strony: 9--16
• Opis fizyczny: Bibliogr. 11 poz., rys.

Twórcy

autor

Gardecki S.

• Poznan University of Technology, Institute of Control and Information Engineering, ul. Piotrowo 3A, 60-965 Poznan, Poland

autor

Giernacki W.

• Poznan University of Technology, Institute of Control and Information Engineering, ul. Piotrowo 3A, 60-965 Poznan, Poland

autor

Goslinski J.

• Poznan University of Technology, Institute of Control and Information Engineering, ul. Piotrowo 3A, 60-965 Poznan, Poland

autor

Kasinski A.

• Poznan University of Technology, Institute of Control and Information Engineering, ul. Piotrowo 3A, 60-965 Poznan, Poland

Bibliografia

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• [3] Heffley R.K., Mnich M.A., Minimum-Complexity Helicopter Simulation Math Model, National Aeronautics and Space Administration, 2003.
• [4] Hald U.B., Autonomous Helicopter - Modelling and Control, Aalborg University, 2005.
• [5] Gardecki S., Kasinski A., ”Testing and selection of electrical actuators for multi-rotor flying robot”, PAK, 2012.
• [6] Erginer B., Altug, E., ”Modeling and PD Control of a Quadrotor VTOL Veh”. In: Proceedings of the 2007 IEEE Intelligent Vehicles Symposium, 2007.
• [7] Craig J.J., Introduction to Robotics Mechanics and Control, Addison-Wesley, 1989.
• [8] Banka St., Multivariable Control Systems: A Polynomial Approach, ZUT University Publishing, 2007.
• [9] Bak T., Modeling of Mechanical Systems, Lecture note – Aalborg University, 2002.
• [10] Azzam A., Wang X., ”Quad Rotor Arial Robot Dynamic Modeling and Configuration Stabilization”. In: 2nd International Asia Conference on Informatics in Control, Automation and Robotics, 2010.DOI:http://dx.doi.org/10.1109/CAR.2010.5456804
• [11] Albertos P., Sala A., Multivariable Control Systems:An Engineering Approach, Springer-Verlag London, 2004. DOI: http://dx.doi.org/10.1016/j.automatica.2005.04.003