Mathematical Modelling and Identification of a Quadrotor

César A. Cárdenas R.,Carlos Andrés Collazos Morales,Juan P. Ospina,Joaquín F. Sánchez,Claudia Caro-Ruiz,Víctor Hugo Grisales,Paola Ariza-Colpas,Emiro De-la-Hoz-Franco,Ramón E. R. González

springer

Universidad Manuela Beltrán | Departamento de Ingeniería Mecánica y Mecatrónica | Universidad de la Costa | Departamento de Física

Cited 2|Views7

Abstract

Motivated by the important growth of VTOL vehicles research such as quadrotors and to a small extent autonomous flight, a quadrotor dynamical model is presented in this work. The purpose of this study is to get a better understanding of its flight dynamics. It is an underactuated system. So, a simplified and clear model is needed to implement controllers on these kind of unmanned aerial systems. In addition, a computational tool is used for validation purposes. For future works embedded or intelligent control systems can be developed to control them. Gyroscopic and some aerodynamics effects are neglected.

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Key words

Quadrotor,VTOL,Flight dynamics,UAV

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