Dynamic Modeling and Control Techniques for Multi-Rotor Flying Robots

被引：0

作者：

Kim, Hyeon ^{[1
]}

Jeong, Heon Sul ^{[1
]}

Chong, Kil To ^{[2
]}

Lee, Deok Jin ^{[1
]}

机构：

[1] Kunsan Natl Univ, Sch Mech & Automot Engn, Gunsan, South Korea

[2] Chonbuk Natl Univ, Sch Elect Engn, Jeonju, South Korea

来源：

TRANSACTIONS OF THE KOREAN SOCIETY OF MECHANICAL ENGINEERS A | 2014年 / 38卷 / 02期

关键词：

Unmanned Aerial Vehicle; Multi-Rotor Robot; Vertical Take Off and Landing; Dynamic Modeling; Flight Control Techniques;

D O I：

10.3795/KSME-A.2014.38.2.137

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A multi-rotor is an autonomous flying robot with multiple rotors. Depending on the number of the rotors, multi-rotors are categorized as tri-, quad-, hexa-, and octo-rotor. Given their rapid maneuverability and vertical take-off and landing capabilities, multi-rotors can be used in various applications such as surveillance and reconnaissance in hostile urban areas surrounded by high-rise buildings. In this paper, the unified dynamic model of each tri-, quad-, hexa-, and octo-rotor are presented. Then, based on derived mathematical equations, the operation and control techniques of each multi-rotor are derived and analyzed. For verifying and validating the proposed models, operation and control technique simulations are carried out.

引用

页码：137 / 148

页数：12

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