An adequate mathematical model of four-rotor flying robot in the context of control simu

Stanislaw Gardecki, Wojciech Giernacki, Jaroslaw Goslinski, Andrzej Kasinski
2014 Journal of Automation, Mobile Robotics & Intelligent Systems  
In this paper a model of the dynamics of four-rotor flying robot is described in details. Control design must be preceded by the modeling and subsequent analysis of the robot behavior in simulator. It is therefore necessary to develop the mathema cal model as accurate as it is possible. The paper contains a detailed deriva on of the mathema cal model in the context of physics laws affecting the quadrocopter. The novelty of presented nota on is an exten on of Coriolis forces in linear accelera
more » ... and the gyroscopic effect on angular accelera on. In the valida on phase, the mathema cal model was verified with the use of proposed control algorithms. Simula on studies have demonstrated the adequacy of a MATLAB model to properly reflect the real quadrocopter dynamics. This would allow for its use in the simulator and a erwards to implement and verify of control laws on the real fourrotor flying robot.
doi:10.14313/jamris_2-2014/13 fatcat:rgbgjhfr3rhnhetkilpmsx5cne