Разработка реалистичной математической модели гексакоптера в инерциальной системе координат

Ibrahim Nizar Ibrahim

doi:10.22213/2413-1172-2017-1-91-94

Authors

I. N. Ibrahim Kalashnikov ISTU

DOI:

https://doi.org/10.22213/2413-1172-2017-1-91-94

Keywords:

UAV, hexacopter, nonlinear, coupled

Abstract

This work focuses on the modeling of a six DOF hexacopter type Unmanned Aerial Vehicle (UAV). Choosing a hexacopter is challenging in the field of control because it is a highly nonlinear, multivariable, and underactuated system, in addition to its advantages such as high maneuverability and stationary flight. Underactuated systems, defined as mechanical system in which the dimension of the configuration space exceeds that of the control input space, that is, with fewer control inputs than the degrees of freedom. Modeling of such a system is not a trivial problem due to the coupled dynamics of the aerial vehicle. The dynamic model is formulated using the Newton - Euler method for translational and rotational dynamics, and the contribution of this work is deriving an accurate and detailed mathematical model of a hexacopter UAV by taking into consideration the disturbances acting on the force and moment of the hexacopter for outdoor applications, which is not mentioned in other papers.

Author Biography

I. N. Ibrahim, Kalashnikov ISTU

Post-graduate

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