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Bulletin of the Polish Academy of Sciences Technical Sciences

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Volume 62, Issue 3 (Sep 2014)

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Modelling and optimal control system design for quadrotor platform – an extended approach

R. Zawiski
  • Corresponding author
  • Institute of Automatics, Faculty of Automatics, Electronics and Computer Science, Silesian University of Technology, 16 Akademicka St., 44-100 Gliwice, Poland
  • Email:
/ M. Błachuta
  • Institute of Automatics, Faculty of Automatics, Electronics and Computer Science, Silesian University of Technology, 16 Akademicka St., 44-100 Gliwice, Poland
Published Online: 2014-09-09 | DOI: https://doi.org/10.2478/bpasts-2014-0058

Abstract

This article presents the development of a mathematical model of a quadrotor platform and the design of a dedicated control system based on an optimal approach. It describes consecutive steps in development of equations forming the model and including all its physical aspects without commonly used simplifications. Aerodynamic phenomena, such as Vortex Ring State or blade flapping are accounted for during the modelling process. The influence of rotors’ gyroscopic effect is exposed. The structure of a control system is described with an application of the optimal LQ regulator and an intuitive way of creating various flight trajectories. Simulation tests of the control system performance are conducted. Comparisons with models available in the literature are made. Based on above, conclusions are drawn about the level of insight necessary in creation of control-oriented and useable model of a quadrotor platform. New possibilities of designing and verifying models of quadrotor platforms are also discussed.

Keywords : mathematical modelling; optimal control; quadrotor platform; autonomous flight

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About the article

Published Online: 2014-09-09

Published in Print: 2014-09-01



Citation Information: Bulletin of the Polish Academy of Sciences Technical Sciences, ISSN (Online) 2300-1917, DOI: https://doi.org/10.2478/bpasts-2014-0058. Export Citation

© Bulletin of the Polish Academy of Sciences. Technical Sciences. This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License. (CC BY-NC-ND 3.0)

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