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Dynamic Modeling and Simulation of UAV (Unmanned Aerial Vehicle) Octorotor

Riyanto Bambang

Abstract


In this paper, the model of unmanned aerial vehicle with configuration of eight rotors (octorotor) is presented. First principle modeling approach is used to derive the non-linear model of the aircraft. First principle is a modeling method which considers force worked on the UAV. By applying Second Newton Law and corriolis theorem, non-linear equations which represent the behavior of UAV can be obtained. The concerned variables in the UAV model are three translation speeds in xyz coordinate, three angular speeds in xyz coordinate, and three angular positions in inertial reference on earth. There are three kinds of forces in this model which are gravitational force, gyroscopic effect, and force produced in effect of propeller rotations. That non-linear model is then linearized using Taylor expansion and small perturbation theorem. The model is then compared with experiment data. The best-fit value produced for each state in the model is good enough which is between 30.9% and 75.37%.

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References


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DOI: http://dx.doi.org/10.21535%2FProICIUS.2010.v6.493

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