A Survey of Modelling and Identification of Quadrotor Robot

Author:

Zhang Xiaodong1ORCID,Li Xiaoli2ORCID,Wang Kang2,Lu Yanjun1ORCID

Affiliation:

1. School of Automation, Shenyang Aerospace University, Shenyang 110136, China

2. School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China

Abstract

A quadrotor is a rotorcraft capable of hover, forward flight, and VTOL and is emerging as a fundamental research and application platform at present with flexibility, adaptability, and ease of construction. Since a quadrotor is basically considered an unstable system with the characteristics of dynamics such as being intensively nonlinear, multivariable, strongly coupled, and underactuated, a precise and practical model is critical to control the vehicle which seems to be simple to operate. As a rotorcraft, the dynamics of a quadrotor is mainly dominated by the complicated aerodynamic effects of the rotors. This paper gives a tutorial of the platform configuration, methodology of modeling, comprehensive nonlinear model, the aerodynamic effects, and model identification for a quadrotor.

Funder

Fundamental Research Funds for the Central Universities

Publisher

Hindawi Limited

Subject

Applied Mathematics,Analysis

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