Nonlinear State-Space Representations of a Quadrotor through Bond-Graph Technique

摘要：

Obtaining efficient dynamic equations of complex systems, like processes or robotic systems, are very important for control system design. While various forms of acquiring motion equations exist, state-space form has its advantages for analyzing complex systems. Among analytical and graphical techniques of finding dynamic behavior of a system, bond-graph provides straight forward way of serving linear/nonlinear equations of systems in state-space form. In this study, a four-propeller-actuated full/reduced order quadrotor spatial dynamics are investigated by using bond-graph technique. Full order dynamic behavior is obtained including motor, gear, shaft, propellers and the body. Additionally, neglecting motor dynamics, reduced order state-space representations of the system is also provided, assuming force/moment input and propeller speed as inputs to the vehicle separately. Responses of the models are compared and discussed.

关键词： Bond Graph Nonlinear Equations Dynamic Modelling Differential Equations State Space

作者: Vasfi E. Omurlu Ahmet Sagirli Ertan Haskoy

作者单位: Yildiz Technical University, Mechatronic Engineering Department, Ve(s)iktas, Istanbul 34349 Turkiye Yildiz Technical University, Mechanical Engineering Department, Be(s)iktas, Istanbul 34349 Turki

会议类型: 国际会议

会议名称: The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

会议地点: 太原

会议语种:英文

页码: 620-627

在线出版日期: 2012-05-23（万方平台首次上网日期，不代表论文的发表时间）