title: Modelling and controller prototyping for unmanned vertical take off and landing (UVTOL)vehicles
creator: Martínez Álvarez, Alexander
creator: Gutiérrez Mier, Pedro
creator: Rossi, Claudio
creator: Barrientos Cruz, Antonio
creator: Cerro Giner, Jaime del
creator: San Martín Muñoz, Rodrigo
subject: Electronics
subject: Mechanics
description: 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.
publisher: E.T.S.I. Industriales (UPM)
rights: https://creativecommons.org/licenses/by-nc-nd/3.0/es/
date: 2008
type: info:eu-repo/semantics/conferenceObject
type: Presentation at Congress or Conference
source: Proceedings of 20th European Modeling and Simulation Symposium | 20th European Modeling and Simulation Symposium (EMSS 2008) | 17/09/2008-19/09/2008 | Italia
type: PeerReviewed
format: application/pdf
language: eng
relation: http://www.msc-les.org/PastConf/EMSS2008/
rights: info:eu-repo/semantics/openAccess
identifier: https://oa.upm.es/4141/