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

Descripción

Título: Modelling and controller design methodology 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: 39th International Symposium on Robotics 2008 (ISR08)
Fechas del Evento: 15/10/2008-17/10/2008
Lugar del Evento: Seul, Corea
Título del Libro: CD-ROM of 39th International Symposium on Robotics
Fecha: 2008
ISBN: 978-84-9209-338-0
Materias:
Palabras Clave Informales: UVTOL, modeling, 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

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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 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.

Más información

ID de Registro: 4143
Identificador DC: http://oa.upm.es/4143/
Identificador OAI: oai:oa.upm.es:4143
Depositado por: Memoria Investigacion
Depositado el: 17 Sep 2010 10:47
Ultima Modificación: 20 Abr 2016 13:28
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