Title :
Quadcopter control system
Author :
Daniel Gheorghiţă;Ionuţ Vîntu;Letiţia Mirea;Cătălin Brăescu
Author_Institution :
Automatic Control and Applied Informatics, Faculty of Automatic Control and Computer Engineering, Technical University of Iaş
Abstract :
The paper presents two different types of approach for mathematical modeling of quadcopter kinematics and dynamics. The first one is based on the equations of classical mechanics and the other one is derived from Denavit-Hartenberg formalism and Lagrangian mechanics. The obtained models were used to design the control of the quadcopter motion on one rotation axis. The paper also offers some details of the physical and software implementation of the system on which tests have been made.
Keywords :
"Mathematical model","Kinematics","Angular velocity","Propellers","Graphical user interfaces","Torque"
Conference_Titel :
System Theory, Control and Computing (ICSTCC), 2015 19th International Conference on
DOI :
10.1109/ICSTCC.2015.7321330
