A Survey of Modelling and Identification of Quadrotor Robot

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 dyna...

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Bibliographic Details
Published inAbstract and Applied Analysis Vol. 2014; no. 2014; pp. 260 - 275-431
Main Authors Lu, Yanjun, Wang, Kang, Li, Xiao-Li, Zhang, Xiaodong
Format Journal Article
LanguageEnglish
Published Cairo, Egypt Hindawi Limiteds 2014
Hindawi Publishing Corporation
John Wiley & Sons, Inc
Wiley
Subjects
Colleges & universities
Commercial markets
Ground-effect machines
Mathematical models
Mechanical properties
Microelectromechanical systems
Nonlinear theories
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Summary: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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content type line 14
ISSN:1085-3375
1687-0409
DOI:10.1155/2014/320526