eprintid: 4141
rev_number: 26
eprint_status: archive
userid: 1903
dir: disk0/00/00/41/41
datestamp: 2010-09-18 21:31:41
lastmod: 2016-04-20 13:28:39
status_changed: 2010-09-18 21:31:41
type: conference_item
metadata_visibility: show
item_issues_count: 0
creators_name: Martínez Álvarez, Alexander
creators_name: Gutiérrez Mier, Pedro
creators_name: Rossi, Claudio
creators_name: Barrientos Cruz, Antonio
creators_name: Cerro Giner, Jaime del
creators_name: San Martín Muñoz, Rodrigo
title: Modelling and controller prototyping for unmanned vertical take off and landing (UVTOL)vehicles
ispublished: pub
subjects: electronica
subjects: mecanica
keywords: UVTOL, modelling, controller prototyping
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.
date: 2008
date_type: published
publisher: DIPTEM University
official_url: http://www.msc-les.org/PastConf/EMSS2008/
full_text_status: public
pres_type: paper
place_of_pub: Italia
event_title: 20th European Modeling and Simulation Symposium (EMSS 2008)
event_location: Italia
event_dates: 17/09/2008-19/09/2008
event_type: conference
institution: Industriales
department: Automatica
refereed: TRUE
isbn: 978-88-903724-0-7
book_title: Proceedings of 20th European Modeling and Simulation Symposium
rights: by-nc-nd
citation:   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.    
document_url: https://oa.upm.es/4141/1/INVE_MEM_2008_58480.pdf