Mathematical & Physical Modelling of a Quadrotor UAV

Idrissi, Moad and Annaz, Fawaz and Salami, Mohammad R (2021) Mathematical & Physical Modelling of a Quadrotor UAV. In: 2021 7th International Conference on Control, Automation and Robotics (ICCAR), 23-26 April 2021, Singapore.

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Abstract

Unmanned aerial vehicles (UAVs) are now becoming a major topic of interest due to their flying capabilities attracting researchers who are working within various application. Quadrotors in particular are one of main types of UAVs that are now currently studied, where some of the main focuses are positional and attitude tracking. Currently, verifying these systems in simulation is generally processed through MATLAB/Simulink where the dynamics are thoroughly analyzed. In this paper, the results attained from the mathematical dynamics implemented in Simulink will be justified using ADAMS environment. This software was purposely developed to accurately model the dynamics of mechanical systems in 3D without considering any equations of motion. SolidWorks is used to design the quadrotor frame that satisfies the properties of the proposed system in Simulink. Setting the control inputs as angular velocity of each motor will generate a relative thrust in order for the vehicle to achieve motion. Finally, the dynamic behavior on ADAMS and Simulink are compared as the control inputs are identically applied, which has revealed a marginal difference between the resultant motions.

Item Type: Conference or Workshop Item (Paper)
Identification Number: https://doi.org/10.1109/ICCAR52225.2021.9463447
Date: 23 April 2021
Uncontrolled Keywords: UAV, Quadrotor, Physical Modelling, Msc ADAMs
Subjects: G100 Mathematics
G900 Others in Mathematical and Computing Sciences
H100 General Engineering
H400 Aerospace Engineering
H600 Electronic and Electrical Engineering
Divisions: Faculty of Computing, Engineering and the Built Environment > School of Engineering and the Built Environment
Depositing User: Fawaz Annaz
Date Deposited: 30 Jun 2021 09:29
Last Modified: 30 Jun 2021 09:29
URI: http://www.open-access.bcu.ac.uk/id/eprint/11859

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