Modeling and simulation of quadrotor UAV with tilting rotors

Mahmoud Elfeky; Moustafa Elshafei; Abdul Wahid A. Saif; Mohamed F. Al-Malki

doi:10.1007/s12555-015-0064-5

Modeling and simulation of quadrotor UAV with tilting rotors

Mahmoud Elfeky^*
, Moustafa Elshafei
, Abdul Wahid A. Saif
, Mohamed F. Al-Malki

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

37 Scopus citations

Abstract

Quadrotors have recently been drawing greater research and commercial attention to the point that they have become one of the most popular types of unmanned aerial vehicles. Their applications vary from entertainment to transportation, commercial and even military applications. In this paper, a novel quadrotor design is proposed. The design decouples all motions by allowing each rotor to tilt in two directions about the quadrotor fixed frame. This modification improves the stability and safety of the quadrotor and gives it more manoeuvrability and robustness. The mathematical model of the proposed system is carried out using Newton-Euler technique. Several flight scenarios are also simulated under a simple PID controller to illustrate the superiority over conventional quadrotor designs.

Original language	English
Pages (from-to)	1047-1055
Number of pages	9
Journal	International Journal of Control, Automation and Systems
Volume	14
Issue number	4
DOIs	https://doi.org/10.1007/s12555-015-0064-5
State	Published - 1 Aug 2016

Bibliographical note

Publisher Copyright:
© 2016, Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg.

Keywords

Degrees of freedom
UAV
fault tolerance
quadrotor
tilting rotor
underactuated

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications

Access to Document

10.1007/s12555-015-0064-5

Cite this

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title = "Modeling and simulation of quadrotor UAV with tilting rotors",

abstract = "Quadrotors have recently been drawing greater research and commercial attention to the point that they have become one of the most popular types of unmanned aerial vehicles. Their applications vary from entertainment to transportation, commercial and even military applications. In this paper, a novel quadrotor design is proposed. The design decouples all motions by allowing each rotor to tilt in two directions about the quadrotor fixed frame. This modification improves the stability and safety of the quadrotor and gives it more manoeuvrability and robustness. The mathematical model of the proposed system is carried out using Newton-Euler technique. Several flight scenarios are also simulated under a simple PID controller to illustrate the superiority over conventional quadrotor designs.",

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T1 - Modeling and simulation of quadrotor UAV with tilting rotors

AU - Elfeky, Mahmoud

AU - Elshafei, Moustafa

AU - Saif, Abdul Wahid A.

AU - Al-Malki, Mohamed F.

PY - 2016/8/1

Y1 - 2016/8/1

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AB - Quadrotors have recently been drawing greater research and commercial attention to the point that they have become one of the most popular types of unmanned aerial vehicles. Their applications vary from entertainment to transportation, commercial and even military applications. In this paper, a novel quadrotor design is proposed. The design decouples all motions by allowing each rotor to tilt in two directions about the quadrotor fixed frame. This modification improves the stability and safety of the quadrotor and gives it more manoeuvrability and robustness. The mathematical model of the proposed system is carried out using Newton-Euler technique. Several flight scenarios are also simulated under a simple PID controller to illustrate the superiority over conventional quadrotor designs.

KW - Degrees of freedom

KW - UAV

KW - fault tolerance

KW - quadrotor

KW - tilting rotor

KW - underactuated

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Modeling and simulation of quadrotor UAV with tilting rotors

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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