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Quadrotor multi-model for control purposes

Author
Grau, A.; Bolea, Y.; Sanfeliu, A.
Type of activity
Journal article
Journal
Journal of physics: conference series
Date of publication
2018
Volume
1141
Number
Conference 1
First page
1
Last page
6
DOI
https://doi.org/10.1088/1742-6596/1141/1/012024 Open in new window
Project funding
Aerial robotic system integrating multiple arms and advanced manipulation capabilities for inspection and maintenance
Repository
http://hdl.handle.net/2117/127521 Open in new window
URL
http://iopscience.iop.org/article/10.1088/1742-6596/1141/1/012024 Open in new window
Abstract
In this work, a multi-model of a quadrotor is developed in order to control this system. The kinematic model of each part of the quadrotor will be derived using the Euler angles, and also the dynamics model of the quadrotor will be calculated based on the first principles of a rigid body using the Newton-Euler formulation. Furthermore, the following assumptions are used :1) The structure is completely rigid and perfectly symmetric. 2) The center of mass is in the origin of the quadrotor fixed fr...
Citation
Grau, A.; Bolea, Y.; Sanfeliu, A. Quadrotor multi-model for control purposes. "Journal of physics: conference series", 2018, vol. 1141, Conference 1, p. 1-6.
Keywords
Fuzzy control, UAV
Group of research
VIS - Artificial Vision and Intelligent Systems

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