Dynamic Modelling of a Quadrotor Aerial Vehicle with Nonlinear Inputs

This paper outlines the dynamic modelling as well as the attitude and altitude control of a rotary based unmanned aerial vehicle (UAV). A multirotor vertical take-off and landing (VTOL) UAVs, namely Trirotor aircraft is investigated. In essence the the trirotor model consists of three DC motors equipped with three fixed pitch angle rotors without the aid of a swashplate. The mathematical modelling of this multirotor is governed by the Newton-Euler formulation. A classical control algorithm viz. heuristic (Proportional-Integral-Derivative) PID tuning was adopted in the attitude and altitude control of this particular multirotor configuration. It was established from the Simulink simulations that, a PD controller was suffice to control the attitude whilst PID was apt for controlling the altitude of this form of multirotor.

Download Full-text

Flight Dynamic Modelling and Control System Design for a Flapping Wing Micro Aerial Vehicle at Hover

AIAA Atmospheric Flight Mechanics Conference and Exhibit ◽

10.2514/6.2003-5705 ◽

2003 ◽

Cited By ~ 1

Author(s):

Kum Hoe Loh ◽

Mike Cook

Keyword(s):

Control System ◽

System Design ◽

Dynamic Modelling ◽

Flapping Wing ◽

Control System Design ◽

Micro Aerial Vehicle ◽

Aerial Vehicle ◽

And Control

Download Full-text

A Preliminary Study of Parameter Estimation for Fixed Wing Aircraft and High Endurability Parafoil Aerial Vehicle

INCAS BULLETIN ◽

10.13111/2066-8201.2020.12.4.9 ◽

2020 ◽

Vol 12 (4) ◽

pp. 95-109

Author(s):

Roli JAISWAL ◽

Om PRAKASH ◽

Sudhir Kumar CHATURVEDI

Keyword(s):

System Identification ◽

Dynamic Modelling ◽

Mathematical Tool ◽

Longitudinal Stability ◽

Aerial Vehicles ◽

Stability Derivatives ◽

Aerial Vehicle ◽

Identification Techniques ◽

Derivatives Of ◽

Powered Parafoil

High Endurability Aerial vehicle includes Airship, Powered parafoil aerial vehicle (PPAV). These flying aerial vehicles have excellent endurance and durability. Nowadays, research in lighter than air technology is pacing up fast. In the past years, the design and development of high endurable flying vehicle has grown due to their application in monitoring of floods/ drought, aerial photography, transportation, surveillance in terrain prone areas, reconnaissance missions etc. System Identification is a mathematical tool applied to develop mathematical model of any physical system based on measured data. Research on System Identification of these types of vehicles is on latest trends. Dynamic modelling of these types of vehicles is more complex than fixed wing aircraft. A detail Literature review in system Identification of PPAV and fixed wing aircraft is presented aiming to provide a source of information for researchers to make vehicle fully autonomous from manual controls. Various system Identification Techniques to estimate parameters of flying aerial vehicles are discussed. Longitudinal stability derivatives of fixed wing Hansa-3 aircraft and PPAV are compared. The methodology used in this study to estimate the longitudinal stability derivatives is ML Method. The results obtained in form of stability derivatives of Hansa-3 aircraft and Powered parafoil aerial vehicle are presented in tabular form. This study will give insight of identification techniques used to estimate parameters.

Download Full-text