Development and Analysis of Linear Model Representations of the Quad-Rotor System | ||||
| International Conference on Aerospace Sciences and Aviation Technology | ||||
| Article 12, Volume 16, AEROSPACE SCIENCES & AVIATION TECHNOLOGY, ASAT - 16 – May 26 - 28, 2015, May 2015, Page 1-14 PDF (715.05 K) | ||||
| Document Type: Original Article | ||||
| DOI: 10.21608/asat.2015.22894 | ||||
 View on SCiNiTO | ||||
| Authors | ||||
| M. Moness1; M. Bakr2 | ||||
| 1Professor, Computers and Systems Engineering Dept., Faculty of Engineering, Minia University. | ||||
| 2Teaching assistant, Computers and Systems Engineering Dept., Faculty of Engineering, Minia University. | ||||
| Abstract | ||||
| A Quad-rotor, which is an airplane with four rotors, is considered a complex and challenging control problem. Analysis and design of its control systems is usually started by careful consideration of its mathematical models description. This paper presents a detailed mathematical model for a Vertical Takeoff and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) known as the quad rotor. The presented paper focus on the nonlinear modeling of an experimental type quad-rotor. The first objective of this paper aims to develop a nonlinear dynamical model based on Newton-Euler approach. Then, a linear model is obtained around an optimized hovering point. The state space, transfer function matrix and matrix fraction description models are derived. Finally, a linear controller is designed to achieve a stable compensated system around a hovering point. The methodology applied in this paper takes the ST-450 experimental quad-rotor as a case study. | ||||
| Keywords | ||||
| Quad rotor; modeling; identification; Linearization; linear control; Stabilization; LQR | ||||
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