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A Survey of Modelling and Identification of Quadrotor Robot

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Listed:
  • Xiaodong Zhang
  • Xiaoli Li
  • Kang Wang
  • Yanjun Lu

Abstract

A quadrotor is a rotorcraft capable of hover, forward flight, and VTOL and is emerging as a fundamental research and application platform at present with flexibility, adaptability, and ease of construction. Since a quadrotor is basically considered an unstable system with the characteristics of dynamics such as being intensively nonlinear, multivariable, strongly coupled, and underactuated, a precise and practical model is critical to control the vehicle which seems to be simple to operate. As a rotorcraft, the dynamics of a quadrotor is mainly dominated by the complicated aerodynamic effects of the rotors. This paper gives a tutorial of the platform configuration, methodology of modeling, comprehensive nonlinear model, the aerodynamic effects, and model identification for a quadrotor.

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Handle: RePEc:wly:jnlaaa:v:2014:y:2014:i:1:n:320526
DOI: 10.1155/2014/320526
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