Modelling and controller prototyping for unmanned vertical take off and landing (UVTOL)vehicles

Martínez Álvarez, Alexander; Gutiérrez Mier, Pedro; Rossi, Claudio; Barrientos Cruz, Antonio; Cerro Giner, Jaime del y San Martín Muñoz, Rodrigo (2008). Modelling and controller prototyping for unmanned vertical take off and landing (UVTOL)vehicles. En: "20th European Modeling and Simulation Symposium (EMSS 2008)", 17/09/2008-19/09/2008, Italia. ISBN 978-88-903724-0-7.

Descripción

Título: Modelling and controller prototyping for unmanned vertical take off and landing (UVTOL)vehicles
Autor/es:
  • Martínez Álvarez, Alexander
  • Gutiérrez Mier, Pedro
  • Rossi, Claudio
  • Barrientos Cruz, Antonio
  • Cerro Giner, Jaime del
  • San Martín Muñoz, Rodrigo
Tipo de Documento: Ponencia en Congreso o Jornada (Artículo)
Título del Evento: 20th European Modeling and Simulation Symposium (EMSS 2008)
Fechas del Evento: 17/09/2008-19/09/2008
Lugar del Evento: Italia
Título del Libro: Proceedings of 20th European Modeling and Simulation Symposium
Fecha: 2008
ISBN: 978-88-903724-0-7
Materias:
Palabras Clave Informales: UVTOL, modelling, controller prototyping
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

Texto completo

[img]
Vista Previa
PDF (Document Portable Format) - Se necesita un visor de ficheros PDF, como GSview, Xpdf o Adobe Acrobat Reader
Descargar (726kB) | Vista Previa

Resumen

This paper describes a methodology to parameterize linear, time invariant (LTI) models which represent the dynamics of UVTOLs and that are appropriate for analytical development of controllers. The models validity was tested against real telemetry from two vehicles, a mini-helicopter and a quad-rotor. The experiments show that despite its inherent limitations the LTI models are suitable for modeling the complex dynamics of aerial vehicles. Different LTI models forthe mini-helicopter’s stationary, lateral and longitudinal flights were obtained. Similarly, given the geometrical and dynamic characteristics of the quad-rotor no distinction is made between stationary, lateral and longitudinal flights, and only one LTI model was obtained, which represents the overall dynamic behavior of the vehicle. Because of their relatives implicity these models were used to design analytical controllers and to obtain different controller prototypes in a quick and simple way to evaluate the UVTOL’s performance in different flight conditions.

Más información

ID de Registro: 4141
Identificador DC: http://oa.upm.es/4141/
Identificador OAI: oai:oa.upm.es:4141
URL Oficial: http://www.msc-les.org/PastConf/EMSS2008/
Depositado por: Memoria Investigacion
Depositado el: 18 Sep 2010 21:31
Ultima Modificación: 20 Abr 2016 13:28
  • Open Access
  • Open Access
  • Sherpa-Romeo
    Compruebe si la revista anglosajona en la que ha publicado un artículo permite también su publicación en abierto.
  • Dulcinea
    Compruebe si la revista española en la que ha publicado un artículo permite también su publicación en abierto.
  • Recolecta
  • e-ciencia
  • Observatorio I+D+i UPM
  • OpenCourseWare UPM