Mathematical Modeling of a Quadricopter for Functional Simulation

EasyChair Preprint no. 729

Abstract

Aerial devices with four or more horizontal rotors have undergone an accelerated evolution in recent years. Research groups in the area of ​​systems engineering, control engineering students, and amateurs in general are working to achieve the implementation of more robust models and controllers, so that you can work with more detailed, accurate simulations, and therefore more realistic in the behavior of the four-wheelers. Many authors thinking in the future of a practical implementation and limited in calculation power by the imposed lightness in weight, choose to keep the modeling of vehicle dynamics relatively simple, which makes it possible to control the quadrotor using classic control techniques of linear systems. as the PID, by means of the linearization of the dynamics of the device's behavior around an operating point that is usually chosen according to where the device must hang. However, the wide range flight or with more complex maneuvers requires a better performance of the control system, a need that can only be achieved by the use of non-linear control techniques, since these consider a more general form of the dynamics of the vehicle in all the flight zones, but these in turn imply a more complete model of the aerial artifact.

Keyphrases: Cuadricóptero, Espacio de Estado, Linealización Simulación, Modelado matemático

@Booklet{EasyChair:729,
  author = {Gerardo Chacon and Tito González and Victor Arias},
  title = {Mathematical Modeling of a Quadricopter for Functional Simulation},
  howpublished = {EasyChair Preprint no. 729},

  year = {EasyChair, 2019}}