Abstract
The first step toward deriving a real-time controller is to adequately model the dynamics of the system. This approach was utilized since the very beginning of quadrotor research (Bouabdallah, Murrieri, Siegwart, Proceedings - IEEE international conference robotics and automation ICRA ’04, 2004, [4]). As research on micro-aerial vehicle grows (i.e., mobile manipulation, aerobatic moves) (Korpela, Danko, Oh, Proceedings of the international conference on unmanned aerial systems (ICUAS), 2011, [11], Mellinger, Lindsey, Shomin, Kumar, Proceeding IEEE/RSJ international conference intelligent robots and systems (IROS), 2011, [13]), the need for an elaborate mathematical model arises. The model needs to incorporate a full spectrum of aerodynamic effects that act on the quadrotor during climb, descent, and forward flight. To derive a more complete mathematical model of a quadrotor, one needs to start with basic concepts of momentum theory and blade elemental theory.
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Orsag, M., Korpela, C., Oh, P., Bogdan, S. (2018). Multirotor Aerodynamics and Actuation. In: Aerial Manipulation. Advances in Industrial Control. Springer, Cham. https://doi.org/10.1007/978-3-319-61022-1_3
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DOI: https://doi.org/10.1007/978-3-319-61022-1_3
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