Title :
Comparison of two quadrotor dynamic models
Author :
de Jesus Rubio, Jose ; Humberto Perez Cruz, J. ; Zamudio, Zizilia ; Salinas, Annel J.
Author_Institution :
Inst. Politec. Nac., Mexico City, Mexico
Abstract :
In this paper, two dynamic models of a quadrotor are presented, where the traslational dynamic is obtained using the Euler-Lagrange method, and the rotational dynamic is obtained using the Newton-Euler method. The difference between both models is due to the sense in which the rotational matrices are used. A simulation shows the effectiveness of the presented methods.
Keywords :
Lagrangian field theory; Newton method; matrix algebra; modelling; rotors; Euler-Lagrange method; Newton-Euler method; quadrotor dynamic models; rotational dynamic; rotational matrices; Abstracts; Analytical models; Control systems; MIMO; Predictive models; Radio frequency; Silicon compounds; Quadrotor; analytic model; dynamic model; simulation;
Journal_Title :
Latin America Transactions, IEEE (Revista IEEE America Latina)
DOI :
10.1109/TLA.2014.6868851
