Dynamic Modelling and Analysis of a Quadrotor Based on Selected Physical Parameters

Idrissi, Moad; Annaz, Fawaz Y.

doi:10.18178/ijmerr.9.6.784-790

Cited by 9 publications

(8 citation statements)

References 18 publications

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“…As stated in [37], equation (7), Ω r gives the overall residual propeller speed which is used to calculate the gyroscopic effects during rotations.…”

Section: Quadrotor Modellingmentioning

confidence: 99%

Formation Control of Quadrotor UAVs and Localisation Analyses Via Wireless Sensor Networks

Devery,

Gill,

Allen

et al. 2023

Preprint

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In recent years, the cost-effectiveness of deploying and maintaining Unmanned Aerial Vehicles (UAVs), coupled with their capacity to operate in remote or hazardous environments inaccessible to human pilots, has garnered significant research attention in both military and civilian domains. The utilisation of multi-agent UAVs has experienced substantial growth, particularly for intricate tasks such as surveying and monitoring, necessitating extensive research and development efforts. This expansion demands more intricate control, communication, and coordination mechanisms. Assessing and analysing these multi-agent systems under flight dynamic conditions pose notable challenges. This paper proposes the development of a mathematical model for a leader-follower structured Quadrotor UAVs that accurately represents the dynamic behaviour while considering the ad-hoc networking system via COOJA. The aim is to construct a model that fulfils the need for a simulation environment, which researchers can employ to evaluate and analyse formation control mechanisms. Simulation results are presented from a case study to exemplify a potential application of this approach. A comparative assessment of performance between the proposed system and the traditional counterpart reveals enhanced leader-follower flight performance concerning attitude and position tracking while taking into consideration the ad-hoc networking infrastructure.

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“…As stated in [37], equation (7), Ω r gives the overall residual propeller speed which is used to calculate the gyroscopic effects during rotations.…”

Section: Quadrotor Modellingmentioning

confidence: 99%

Formation Control of Quadrotor UAVs and Localisation Analyses Via Wireless Sensor Networks

Devery,

Gill,

Allen

et al. 2023

Preprint

Self Cite

View full text Add to dashboard Cite

show abstract

“…So far, the dynamic behaviour of these vehicles has been theoretically explained whereby applying such theory in a real environment without a control law will demonstrate a performance that is impractical. In [94,95], our previous work was set on applying the dynamics into Simulink and analysing the performance without using any control techniques. The results obtained were used to verify the correctness of a Quadrotor helicopter model.…”

Section: Dynamic Simulationmentioning

confidence: 99%

“…10d presents a different study where the behaviour of the UAV changes as the forces are also varied at different intervals. Two set of results are presented where one considers the kinematics calculation while the other considers the Simulink results [94].…”

Section: Dynamic Simulationmentioning

confidence: 99%

A Review of Quadrotor Unmanned Aerial Vehicles: Applications, Architectural Design and Control Algorithms

Idrissi

Salami

Annaz

2022

J Intell Robot Syst

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159

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Over the past decade, unmanned aerial vehicles (UAVs) have received a significant attention due to their diverse capabilities for non-combatant and military applications. The primary aim of this study is to unveil a clear categorization overview for more than a decade worth of substantial progress in UAVs. The paper will begin with a general overview of the advancements, followed by an up-to-date explanation of the different mechanical structures and technical elements that have been included. The paper will then explore and examine various vertical take-off and landing (VTOL) configurations, followed by expressing the dynamics, applicable simulation tools and control strategies for a Quadrotor. In conclusion to this review, the dynamic system presented will always face limitations such as internal and/or external disturbances. Hence, this can be minimised by the choice of introducing appropriate control techniques or mechanical enhancements.

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“…, and describes the moments of inertia around the x, y and z axes respectively. As the vehicle begins to rotate, a gyroscopic torque is generated as the angular momentum of the motors changes [15,17,18]:…”

Section: Gyroscopic Effects and Euler Rotations Of A Rigid Bodymentioning

confidence: 99%

Mathematical & Physical Modelling of a Quadrotor UAV

Idrissi

Annaz

Salami

2021

2021 7th International Conference on Control, Automation and Robotics (ICCAR)

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Unmanned aerial vehicles (UAVs) are now becoming a major topic of interest due to their flying capabilities attracting researchers who are working within various application. Quadrotors in particular are one of main types of UAVs that are now currently studied, where some of the main focuses are positional and attitude tracking. Currently, verifying these systems in simulation is generally processed through MATLAB/Simulink where the dynamics are thoroughly analyzed. In this paper, the results attained from the mathematical dynamics implemented in Simulink will be justified using ADAMS environment. This software was purposely developed to accurately model the dynamics of mechanical systems in 3D without considering any equations of motion. SolidWorks is used to design the quadrotor frame that satisfies the properties of the proposed system in Simulink. Setting the control inputs as angular velocity of each motor will generate a relative thrust in order for the vehicle to achieve motion. Finally, the dynamic behavior on ADAMS and Simulink are compared as the control inputs are identically applied, which has revealed a marginal difference between the resultant motions.

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Dynamic Modelling and Analysis of a Quadrotor Based on Selected Physical Parameters

Cited by 9 publications

References 18 publications

Formation Control of Quadrotor UAVs and Localisation Analyses Via Wireless Sensor Networks

Formation Control of Quadrotor UAVs and Localisation Analyses Via Wireless Sensor Networks

A Review of Quadrotor Unmanned Aerial Vehicles: Applications, Architectural Design and Control Algorithms

Mathematical & Physical Modelling of a Quadrotor UAV

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