Modelling and controller design methodology 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 design methodology for unmanned vertical take off and landing (UVTOL) vehicles. In: "39th International Symposium on Robotics 2008 (ISR08)", 15/10/2008-17/10/2008, Seul, Corea. ISBN 978-84-9209-338-0. pp. 50-55.

Description

Title: Modelling and controller design methodology 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: 39th International Symposium on Robotics 2008 (ISR08)
Event Dates: 15/10/2008-17/10/2008
Event Location: Seul, Corea
Title of Book: CD-ROM of 39th International Symposium on Robotics
Date: 2008
ISBN: 978-84-9209-338-0
Subjects:
Freetext Keywords: UVTOL, modeling, 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

Full text

[img]
Preview
PDF - Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (777kB) | Preview

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 against real telemetry from two vehicles, a mini-helicopter and a quad rotor. The experiments show that despite their inherent limitations the LTI models are suitable for modeling the complex dynamics of aerial vehicles. Different LTI models for the mini-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 relative simplicity these models were used to design analytical controllers and to obtain different controller prototypes in a quick and simple way to evaluate the UVTO`L performance in difference flight conditions.

More information

Item ID: 4143
DC Identifier: http://oa.upm.es/4143/
OAI Identifier: oai:oa.upm.es:4143
Deposited by: Memoria Investigacion
Deposited on: 17 Sep 2010 10:47
Last Modified: 20 Apr 2016 13:28
  • Logo InvestigaM (UPM)
  • Logo GEOUP4
  • Logo Open Access
  • Open Access
  • Logo Sherpa/Romeo
    Check whether the anglo-saxon journal in which you have published an article allows you to also publish it under open access.
  • Logo Dulcinea
    Check whether the spanish journal in which you have published an article allows you to also publish it under open access.
  • Logo de Recolecta
  • Logo del Observatorio I+D+i UPM
  • Logo de OpenCourseWare UPM