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http://dx.doi.org/10.3795/KSME-A.2014.38.2.137

Dynamic Modeling and Control Techniques for Multi-Rotor Flying Robots  

Kim, Hyeon (School of Mechanical & Automotive Engineering, Kunsan Nat'l Univ.)
Jeong, Heon Sul (School of Mechanical & Automotive Engineering, Kunsan Nat'l Univ.)
Chong, Kil To (School of Electronics Engineering, Chonbuk Nat'l Univ.)
Lee, Deok Jin (School of Mechanical & Automotive Engineering, Kunsan Nat'l Univ.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.38, no.2, 2014 , pp. 137-148 More about this Journal
Abstract
A multi-rotor is an autonomous flying robot with multiple rotors. Depending on the number of the rotors, multi-rotors are categorized as tri-, quad-, hexa-, and octo-rotor. Given their rapid maneuverability and vertical take-off and landing capabilities, multi-rotors can be used in various applications such as surveillance and reconnaissance in hostile urban areas surrounded by high-rise buildings. In this paper, the unified dynamic model of each tri-, quad-, hexa-, and octo-rotor are presented. Then, based on derived mathematical equations, the operation and control techniques of each multi-rotor are derived and analyzed. For verifying and validating the proposed models, operation and control technique simulations are carried out.
Keywords
Unmanned Aerial Vehicle; Multi-Rotor Robot; Vertical Take Off and Landing; Dynamic Modeling; Flight Control Techniques;
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Times Cited By KSCI : 2  (Citation Analysis)
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