Detailed octorotor modeling and PD control (CROSBI ID 658417)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Osmić, Nedim ; Kurić, Muhamed ; Petrović, Ivan
engleski
Detailed octorotor modeling and PD control
This paper presents a detailed octorotor model derivation. The full derivation of the rigid octorotor body dynamics based on the Newton- Euler approach including the Gyroscopic effect and motor dynamics is given. We also discuss a generalization of the model thus making it applicable to any symmetric and balanced multirotor aerial vehicle (MAV) system with even number of rotors. Finally, simple stabilization control is designed and compared with the state of the art results.
UAV, octorotor, multirotor aerial vehicle, modeling
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Podaci o prilogu
2182
2016.
objavljeno
10.1109/SMC.2016.7844562
Podaci o matičnoj publikaciji
Proceedings of 2016 IEEE International Conference on Systems, Man, and Cybernetics
Budimpešta:
Podaci o skupu
2016 IEEE International Conference on Systems, Man, and Cybernetics
predavanje
09.10.2016-12.10.2016
Budimpešta, Mađarska