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Nonlinear Modeling of Quadrotor Aerial Vehicle

Idris E. Putro, Agus Budiyono, K. J. Yoon

Abstract


Quadrotor design has became fascinating aerial vehicle for many researchers and academics. It capable to maintain altitude in hover flight and agile movement in any direction, yet it is considered inferior for coverage flight compared with fixed-wing, the other aerial vehicles. There are many missions have been accomplished by using quadrotor aerial vehicle such as disaster support missions, surveillance, and remote inspection. Those extensive usability and necessity to understand its flight characteristics lead many researchers and academics are interested to develop quadrotor modeling. This paper emphasize nonlinear model of quadrotor dynamics that has been developed under Matlab/Simulink environment. Quadrotor aerial vehicle is modeled by four rotor system in cross configuration. Thrust generation are excited by propellers using combine Momentum theory and Blade element theory approach. Gyroscopic effects and hub forces are considered for aerodynamic forces and moments contribution, meanwhile ground effect is ignored to simplify the model. Equation of motion in three-dimensional space are derived from Newton-Euler formulation and presented in Earth Center Earth Fixed frame coordinate. This coordinate system is chosen to support further application such as autonomous controller design. This quadrotor aerial vehicle model have also been adapted to support real-time simulation based on real time workshop target toolbox inside Matlab/Simulink software, thus ground simulation can be carried out before flight test was done. Flight Test experiment will be conducted to validate this nonlinear quadrotor aerial vehicle. The adjusted rotor system sub-block modeling and parameters measurements method have been improved to increase the precision of the nonlinear quadrotor aerial vehicle model.

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References


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DOI: http://dx.doi.org/10.21535%2FProICIUS.2010.v6.499

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