A Survey of Modelling and Identification of Quadrotor Robot

作者：Xiaodong, Zhang; Xiaoli, Li; Kang, Wang; Yanjun, Lu

来源：Abstract and Applied Analysis, 2014, 2014: 1-16.

DOI：10.1155/2014/320526

<jats:p>A quadrotor is a rotorcraft capable of hover, forward flight, and VTOL and is emerging as a fundamental research and application platform at present with flexibility, adaptability, and ease of construction. Since a quadrotor is basically considered an unstable system with the characteristics of dynamics such as being intensively nonlinear, multivariable, strongly coupled, and underactuated, a precise and practical model is critical to control the vehicle which seems to be simple to operate. As a rotorcraft, the dynamics of a quadrotor is mainly dominated by the complicated aerodynamic effects of the rotors. This paper gives a tutorial of the platform configuration, methodology of modeling, comprehensive nonlinear model, the aerodynamic effects, and model identification for a quadrotor.</jats:p>

• 出版日期2014
• 单位北京科技大学