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Mathematical Modeling of the Coaxial Quadrotor Dynamics for Its Attitude and Altitude Control

Author

Listed:
  • Wojciech Giernacki

    (Institute of Robotics and Machine Intelligence, Faculty of Control, Robotics and Electrical Engineering, University of Technology, Piotrowo 3a, 60-965 Poznan, Poland)

  • Jarosław Gośliński

    (Aisens Sp. z o.o., Lubeckiego 23A, 60-348 Poznań, Poland)

  • Jagoda Goślińska

    (Department of Rehabilitation and Physiotherapy, University of Medical Sciences, 28 Czerwca 1956 Str., No 135/147, 60-545 Poznań, Poland)

  • Tadeo Espinoza-Fraire

    (Facultad de Ingenieria, Ciencias y Arquitetura, Universidad Juarez del Estado de Durango, Universidad Str., Filadelfia, Gomez Palacio, Durango 35010, Mexico)

  • Jinjun Rao

    (Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China)

Abstract

In this paper, an easily implementable coaxial quadrotor model and its validation on data from a real unmanned aerial vehicle (UAV), are presented. The proposed mathematical model consists of two parts: description of orientation and position of the UAV in the three-dimensional space. It takes into consideration the gyroscopic effect, influence of the Coriolis force, viscous friction and a several drag-like effects (blade flapping, rotor drag, translational drag and profile drag). In contrast to multirotor models available in the literature, this one is characterized by complementarity in relation to the available control techniques. Depending on selection of these techniques, the model can be narrowed (simplified) to meet the needs without the loss of behaviour adequacy to a real UAV.

Suggested Citation

  • Wojciech Giernacki & Jarosław Gośliński & Jagoda Goślińska & Tadeo Espinoza-Fraire & Jinjun Rao, 2021. "Mathematical Modeling of the Coaxial Quadrotor Dynamics for Its Attitude and Altitude Control," Energies, MDPI, vol. 14(5), pages 1-20, February.
    • Handle: RePEc:gam:jeners:v:14:y:2021:i:5:p:1232-:d:505002
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    Cited by:

    1. Hyun-Jong Park & Sung-Chul Go, 2022. "Modeling and Control of a Hybrid Multi DOF Motor for a Tilted Rotating System," Energies, MDPI, vol. 15(19), pages 1-17, October.

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