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Quadrotor multi-model for control purposes
dc.contributor.author | Grau Saldes, Antoni |
dc.contributor.author | Bolea Monte, Yolanda |
dc.contributor.author | Sanfeliu Cortés, Alberto |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2019-01-24T11:25:34Z |
dc.date.available | 2019-01-24T11:25:34Z |
dc.date.issued | 2018 |
dc.identifier.citation | Grau, A.; Bolea, Y.; Sanfeliu, A. Quadrotor multi-model for control purposes. "Journal of physics: conference series", 2018, vol. 1141, Conference 1, p. 1-6. |
dc.identifier.issn | 1742-6588 |
dc.identifier.uri | http://hdl.handle.net/2117/127521 |
dc.description.abstract | In this work, a multi-model of a quadrotor is developed in order to control this system. The kinematic model of each part of the quadrotor will be derived using the Euler angles, and also the dynamics model of the quadrotor will be calculated based on the first principles of a rigid body using the Newton-Euler formulation. Furthermore, the following assumptions are used :1) The structure is completely rigid and perfectly symmetric. 2) The center of mass is in the origin of the quadrotor fixed frame. 3) The thrusts are proportional to the square of the motors rotational speed. A state-space model (kinematics and dynamics) is developed by physical laws. But, this deduced model presents several no linearities that are produced by three factors: the orientation (Pitch, Roll and Yaw), the control action and the angular velocities. To be able to control the quadrotor system in simple, linear and manageable way, it is necessary to linearize the system. Two method are possible: a classical linearization around several set-points and a multi-model linearization. In this case, a multi-model linearization is proposed due to the obtained control model will be used to compute a multi-model controller using fuzzy techniques. Fuzzy control techniques are suitable for linear parameter varying systems with no linearities, as our quadrotor. |
dc.format.extent | 6 p. |
dc.language.iso | eng |
dc.publisher | Institute of Physics (IOP) |
dc.rights | Attribution 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject | Àrees temàtiques de la UPC::Enginyeria mecànica::Mecànica::Cinemàtica |
dc.subject.lcsh | Kinematics |
dc.subject.lcsh | Quadrotor helicopters |
dc.subject.lcsh | Drone aircraft -- Control systems |
dc.subject.other | UAV |
dc.subject.other | Fuzzy control |
dc.title | Quadrotor multi-model for control purposes |
dc.type | Article |
dc.subject.lemac | Cinemàtica |
dc.subject.lemac | Avions no tripulats -- Sistemes de control |
dc.contributor.group | Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents |
dc.identifier.doi | 10.1088/1742-6596/1141/1/012024 |
dc.description.peerreviewed | Peer Reviewed |
dc.relation.publisherversion | http://iopscience.iop.org/article/10.1088/1742-6596/1141/1/012024 |
dc.rights.access | Open Access |
local.identifier.drac | 23610813 |
dc.description.version | Postprint (published version) |
dc.relation.projectid | info:eu-repo/grantAgreement/EC/H2020/644271/EU/AErial RObotic system integrating multiple ARMS and advanced manipulation capabilities for inspection and maintenance/AEROARMS |
local.citation.author | Grau, A.; Bolea, Y.; Sanfeliu, A. |
local.citation.publicationName | Journal of physics: conference series |
local.citation.volume | 1141 |
local.citation.number | Conference 1 |
local.citation.startingPage | 1 |
local.citation.endingPage | 6 |
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