In the context of radar applications using small UAVs (Unmanned Aerial Vehicles), this paper focuses on the dynamic modeling and the analysis of an octorotor in view of control design. As part of a research and educational project aiming at designing a VTOL (vertical take-off and landing) flying robot with an embedded radar system, this paper presents a complete multivariable nonlinear model of the rigid body motion of a commercially available octorotor, fully parametrized considering the geometry and mass properties of the octorotor and the load. This model is completed to take into account the effects of air drag due to the friction between the drone and the air. To meet the control objectives for radar applications, a PID (Proportional Integral Derivative) controller for altitude and attitude control, then a Linear Quadratic controller for trajectory tracking are designed. The proposed control laws are validated through simulation results and exhibit effective performance.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Octorotor UAVs for radar applications: Modeling and analysis for control design




    Publication date :

    2015-11-01


    Size :

    883937 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Controller Design and Analysis for Octorotor UAVs

    Alansari, Mohamad / Elshamy, Ahmed / Abughali, Ahmed et al. | IEEE | 2022


    Fault-Tolerant Fixed Allocation Control Scheme for Octorotor

    Ijaz, Salman / Chen, Fuyang / Li, Yuqing | Springer Verlag | 2021


    Modeling and Simulation of an Octorotor UAV with Manipulator Arm

    Edmundo Javier Ollervides-Vazquez / Pablo A. Tellez-Belkotosky / Victor Santibañez et al. | DOAJ | 2023

    Free access

    Modelling and Control of a Star-Shaped Octorotor

    Adîr, Victor G. ;Stoica, Adrian M. ;Whidborne, James F. | Trans Tech Publications | 2013


    Fault-Tolerant Fixed Allocation Control Scheme for Octorotor

    Ijaz, Salman / Chen, Fuyang / Li, Yuqing | British Library Conference Proceedings | 2022