Modeling and Flight Control Simulation of Multirotors

被引：0

作者：

Isogai, Kaito ^{[1
]}

Nakano, Hideo ^{[2
]}

Okazaki, Hideaki ^{[1
]}

机构：

[1] Shonan Inst Technol, Grad Sch Engn Elect & Informat Engn, Fujisawa, Kanagawa 2518511, Japan

[2] Shonan Inst Technol, Dept Appl Comp Sci, Fujisawa, Kanagawa 2518511, Japan

来源：

2018 IEEE 61ST INTERNATIONAL MIDWEST SYMPOSIUM ON CIRCUITS AND SYSTEMS (MWSCAS) | 2018年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A theorem for flight controls of multirotors is discussed. First the mathematical foundation for describing the motion of a multirotor as a rigid body is summarized. Secondly definitions and theorems for multirotor operating points, (or flight states), and flight controls are summarized. Thirdly a theorem of the motor speeds to realize the desired multirotor flight states including constant altitudes and hovering flights, is provided. Finally by using some implementations of the theorem on Maple symbolic computations, MATLAB matrix calculations, and MATLAB numerical simulations with ODE solvers, the examples of flight control simulations for a quadrotor are presented.

引用

页码：388 / 391

页数：4

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