Martini, Simone (University of Denver), Sonmez, Serhat (University of Denver), Rizzo, Alessandro (Politecnico di Torino), Stefanovic, Margareta (University of Denver), Rutherford, Matthew (University of Denver), Valavanis, Kimon P. (University of Denver)

Euler-Lagrange Modeling and Control of Quadrotor UAV with Aerodynamic Compensation

Scheduled for presentation during the Regular Session "Multirotor Design and Control I" (WeB3), Wednesday, June 22, 2022, 16:50−17:10, Divona-1

2022 International Conference on Unmanned Aircraft Systems (ICUAS), June 21-24, 2022, Dubrovnik, Croatia

This information is tentative and subject to change. Compiled on April 18, 2024

Abstract

Research focuses on deriving an accurate mathematical model for quadrotor UAVs based on the Euler-Lagrange formulation, which also includes gyroscopic effects and aerodynamic drag. The obtained model is implemented in Matlab/Simulink and compared against a Simscape Multibody implementation. Then, a PD hierarchical control with exact linearization is implemented, tested and compared with the same controller but without considering aerodynamic effects. Results show almost identical behavior, but performance is slightly better when full dynamic compensation is followed. Both detailed models are also released and available as Open Source to be used for controller design, testing and evaluation.