The paper contains part of the results of a research done at the Warsaw University of Technology (WUT) devoted to modeling and control system design for a quadrotor UAV. The quadrotor lift, propulsion and control loads are produced by four identical rotors, performance of which strongly depends on flight conditions. The quadrotor angular rates result in not identical flow through each of the rotors due to their not coaxial configuration which may cause disturbances of a flight path. The development of a complex dynamic model and a control law enhancement method for a quadrotor is presented in this paper. The novel approach to control system development led to increase in quadrotor handling precision, due to compensates disturbances of the flight path, which makes a quadrotor more capable to operate in a confined space.
Quadrotor Dynamics and Control for Precise Handling
Studies in Systems, Decision and Control
2015-07-21
17 pages
Article/Chapter (Book)
Electronic Resource
English
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