Modeling, Simulation and Control of a Spincopter
In this article we present a mathematical model of a spincopter -an inherently stable and easy to control unmanned aerial vehicle (UAV). Although the devised model represents only the first approximation of spincopters physics, it captures basic phenomena that are sufficient for derivation and testing of a simple control algorithm. Results obtained by simulations in Simulink presented herein, demonstrate efficient performance of the proposed simple controller structure. Further tests, including investigation of complex aerodynamics effects and hardware-specified limitations, have been done using X-Plan software package. Finally, the proposed controller has been tested experimentally. Both, Xplane and experimental results confirmed the outcome from Simulink.
M. Orsag S. Bogdan T. Haus M. Bunic A. Krnjak
Laboratory for Robotics and Intelligent Control Systems - LARICS,Dept. of Control and Computer Engineering,Faculty of Electrical Engineering and Computing,University of Zagreb,Zagreb,Croatia
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
2998-3003
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）