TY  - CONF
UR  - http://www.msc-les.org/PastConf/EMSS2008/
AV  - public
A1  - Martínez Álvarez, Alexander
A1  - Gutiérrez Mier, Pedro
A1  - Rossi, Claudio
A1  - Barrientos Cruz, Antonio
A1  - Cerro Giner, Jaime del
A1  - San Martín Muñoz, Rodrigo
SN  - 978-88-903724-0-7
Y1  - 2008///
KW  - UVTOL
KW  -  modelling
KW  -  controller prototyping
CY  - Italia
T2  - 20th European Modeling and Simulation Symposium (EMSS 2008)
ID  - upm4141
PB  - DIPTEM University
M2  - Italia
TI  - Modelling and controller prototyping for unmanned vertical take off and landing (UVTOL)vehicles
N2  - 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.
ER  -