Paper Title :A State Space Linear Mathematical Model and Simulation of a Quadrotor Unmanned Aerial Vehicle in Hover Mode

Author :Yazdi Ibrahim Jenie, Muhammad Rafi Hadytama, Imam Syafi’i, Ony Arifianto

Article Citation :Yazdi Ibrahim Jenie ,Muhammad Rafi Hadytama ,Imam Syafi’i ,Ony Arifianto , (2018 ) " A State Space Linear Mathematical Model and Simulation of a Quadrotor Unmanned Aerial Vehicle in Hover Mode " , International Journal of Mechanical and Production Engineering (IJMPE) , pp. 69-76, Volume-6,Issue-2

Abstract : Quadrotor, one of the most popular type of civil UAV, has been commercially existed in various sizes and prices. This popularity, however, has yet to be coupled with a proper method in mathematical modeling, design, and analysis. This paper describes a mathematical modelling process of a Quadrotor UAV, using the similar methodology used in modelling a conventional aircraft. The process aims to result in a state space format, with a linear description of forces and moments acting on the vehicle, while maintaining accuracy of its dynamic tendencies. a 6 Degrees of Freedom mathematical model for the Quadrotor in its hover mode is elaborated, starting from the general equation until the state-space form, along with the linearization assumptions. Afterward, the model is analyzed its stability and controllability via common method in flight dynamic and control. Keywords - Unmanned Aerial Vehicle, Quadrotor, Drone, State Space Model, Simulation.

Type : Research paper

Published : Volume-6,Issue-2

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