Open Access  Subscription Access

### Dynamic Modeling and Simulation of UAV (Unmanned Aerial Vehicle) Octorotor

Riyanto Bambang

#### Abstract

In this paper, the model of unmanned aerial vehicle with configuration of eight rotors (octorotor) is presented. First principle modeling approach is used to derive the non-linear model of the aircraft. First principle is a modeling method which considers force worked on the UAV. By applying Second Newton Law and corriolis theorem, non-linear equations which represent the behavior of UAV can be obtained. The concerned variables in the UAV model are three translation speeds in xyz coordinate, three angular speeds in xyz coordinate, and three angular positions in inertial reference on earth. There are three kinds of forces in this model which are gravitational force, gyroscopic effect, and force produced in effect of propeller rotations. That non-linear model is then linearized using Taylor expansion and small perturbation theorem. The model is then compared with experiment data. The best-fit value produced for each state in the model is good enough which is between 30.9% and 75.37%.

PDF

#### References

Martinez, Vicente. (2007). Modelling of the Flight Dynamics of a Quadrotor Helicopter. Cranfield university.

Balas, C. (2007). Modelling and Linear Control of a Quadrotor. Cranfield University [3] Goel, R., Shah, S.M., Gupta, N.K., Ananthkrishnan, N. (2009). Modelling, Simulation and Flight Testing of an Autonomous Quadrotor. MIT

Bresciani, Tomasso. (2008). Modelling, Identification and Control of a Quadrotor Helicopter. Lund University

F, Gary. (2001). Derivative of the Aerodynamic Forces for Mesicopter Simulation.

DJ, Dunn. Solid Mechanics Dynamics Tutorial-Gyroscopes.

F, Michael. Attitude Stabilisation of A Quadrotor Aircraft. Faculty of Engineering and Physical Systems, Central Queensland University

S, Tata. Tesis. (2010) First Principle Approach to Modeling of Simple Quadrotor. Institut Teknologi Bandung.

B, Tomasso. (2008). Modelling, Identification, and Control of a Quadrotor Helicopter. Department of Automatic Control Lund University.

Rahul Goel, Sapan Shah, Nitin Gupta, dan Ananthkrishnan. (2009). Modelling, Simulation and Flight Testing of an Autonomous Quadrotor.

Departemnt of Aeronautics and Astronautics, MIT. USA.

KS Fu, RC Gonzalez, CSG Lee. (1987). Robotics Control, Sensing, Vision, and Intelligence. McGraw-Hill: Singapore.

F Gene, P David, dan E Abbas. (1986). Feedback Control of Dynamics System. Addison-Wesley: USA.

B Samir, N Andre, dan S Roland. PID vs LQ Control Techniques Applied to an Indoor Micro Quadrotoror. Swiss Federal Institute of Technology.

R Hugo, S Sergio, dan L Rogelio. Real-Time Stabilization of an Eight-Rotor UAV Using Optical Flow. IEEE Transactions on Robotics, VOL. 25, NO. 4, August, 2009.

McEwen, Matthew D. (1998). Dynamic System and Identification of A Rotary Wing UAV for Stability and Control Analysis. Naval Postgraduate School, California.

Leng, Gerard. http://dynlab.mpe.nus.edu.sg/mpelsb/mdts/GW5n200

pdf. (accessed on 10 September 2009).

DOI: http://dx.doi.org/10.21535%2FProICIUS.2010.v6.493

### Refbacks

• There are currently no refbacks.