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

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

Description

Title: Modelling and controller prototyping for unmanned vertical take off and landing (UVTOL)vehicles
Author/s:
  • Martínez Álvarez, Alexander
  • Gutiérrez Mier, Pedro
  • Rossi, Claudio
  • Barrientos Cruz, Antonio
  • Cerro Giner, Jaime del
  • San Martín Muñoz, Rodrigo
Item Type: Presentation at Congress or Conference (Article)
Event Title: 20th European Modeling and Simulation Symposium (EMSS 2008)
Event Dates: 17/09/2008-19/09/2008
Event Location: Italia
Title of Book: Proceedings of 20th European Modeling and Simulation Symposium
Date: 2008
ISBN: 978-88-903724-0-7
Subjects:
Freetext Keywords: UVTOL, modelling, controller prototyping
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

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.

More information

Item ID: 4141
DC Identifier: http://oa.upm.es/4141/
OAI Identifier: oai:oa.upm.es:4141
Official URL: http://www.msc-les.org/PastConf/EMSS2008/
Deposited by: Memoria Investigacion
Deposited on: 18 Sep 2010 21:31
Last Modified: 20 Apr 2016 13:28
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