Mathematical Modeling of the Coaxial Quadrotor Dynamics for Its Attitude and Altitude Control

Wojciech Giernacki, Jarosław Gośliński, Jagoda Goślińska, Tadeo Espinoza-Fraire and Jinjun Rao
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Wojciech Giernacki: Institute of Robotics and Machine Intelligence, Faculty of Control, Robotics and Electrical Engineering, University of Technology, Piotrowo 3a, 60-965 Poznan, Poland
Jarosław Gośliński: Aisens Sp. z o.o., Lubeckiego 23A, 60-348 Poznań, Poland
Jagoda Goślińska: Department of Rehabilitation and Physiotherapy, University of Medical Sciences, 28 Czerwca 1956 Str., No 135/147, 60-545 Poznań, Poland
Tadeo Espinoza-Fraire: Facultad de Ingenieria, Ciencias y Arquitetura, Universidad Juarez del Estado de Durango, Universidad Str., Filadelfia, Gomez Palacio, Durango 35010, Mexico
Jinjun Rao: Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China

Energies, 2021, vol. 14, issue 5, 1-20

Abstract: In this paper, an easily implementable coaxial quadrotor model and its validation on data from a real unmanned aerial vehicle (UAV), are presented. The proposed mathematical model consists of two parts: description of orientation and position of the UAV in the three-dimensional space. It takes into consideration the gyroscopic effect, influence of the Coriolis force, viscous friction and a several drag-like effects (blade flapping, rotor drag, translational drag and profile drag). In contrast to multirotor models available in the literature, this one is characterized by complementarity in relation to the available control techniques. Depending on selection of these techniques, the model can be narrowed (simplified) to meet the needs without the loss of behaviour adequacy to a real UAV.

Keywords: unmanned aerial vehicle; coaxial quadrotor; UAV model; drag-like effects (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2021
References: View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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