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

Gardecki S., Giernacki W., Goslinski J., Kasinski A.

Journal of Automation Mobile Robotics and Intelligent Systems

2014

Vol. 8, No. 2

9--16

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.