Abstract
Quadrotor UAV is a highly coupled and under-actuated system. Estimation of the dynamic model is an important step for the quadrotor control design. In this chapter, two modelling methods are proposed to determine the dynamic model of a quadrotor prototype. Firstly a mathematical model is developed to describe the quadrotor 6 degrees of freedom using Euler–Lagrange formalism. The unknown model parameters are then obtained using calculations and experimental tests. In the second method the roll system is estimated using closed loop identification method and frequency domain analysis. The simulation results are compared with practical responses. Both of the two methods shows good performances.
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Mizouri, W., Najar, S., Bouabdallah, L., Aoun, M. (2020). Dynamic Modeling of a Quadrotor UAV Prototype. In: Ghommam, J., Derbel, N., Zhu, Q. (eds) New Trends in Robot Control. Studies in Systems, Decision and Control, vol 270. Springer, Singapore. https://doi.org/10.1007/978-981-15-1819-5_14
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DOI: https://doi.org/10.1007/978-981-15-1819-5_14
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