TY - JOUR
T1 - Towards a standard design model for quad-rotors
T2 - A review of current models, their accuracy and a novel simplified model
AU - Amezquita-Brooks, Luis
AU - Liceaga-Castro, Eduardo
AU - Gonzalez-Sanchez, Mario
AU - Garcia-Salazar, Octavio
AU - Martinez-Vazquez, Daniel
N1 - Publisher Copyright:
© 2017 Elsevier Ltd
PY - 2017/11
Y1 - 2017/11
N2 - Applications based on quad-rotor-vehicles (QRV) are becoming increasingly wide-spread. Many of these applications require accurate mathematical representations for control design, simulation and estimation. However, there is no consensus on a standardized model for these purposes. In this article a review of the most common elements included in QRV models reported in the literature is presented. This survey shows that some elements are recurrent for typical non-aerobatic QRV applications; in particular, for control design and high-performance simulation. By synthesising the common features of the reviewed models a standard generic model SGM is proposed. The SGM is cast as a typical state-space model without memory-less transformations, a structure which is useful for simulation and controller design. The survey also shows that many QRV applications use simplified representations, which may be considered simplifications of the SGM here proposed. In order to assess the effectiveness of the simplified models, a comprehensive comparison based on digital simulations is presented. With this comparison, it is possible to determine the accuracy of each model under particular operating ranges. Such information is useful for the selection of a model according to a particular application. In addition to the models found in the literature, in this article a novel simplified model is derived. The main characteristics of this model are that its inner dynamics are linear, it has low complexity and it has a high level of accuracy in all the studied operating ranges, a characteristic found only in more complex representations. To complement the article the main elements of the SGM are evaluated with the aid of experimental data and the computational complexity of all surveyed models is briefly analysed. Finally, the article presents a discussion on how the structural characteristics of the models are useful to suggest particular QRV control structures.
AB - Applications based on quad-rotor-vehicles (QRV) are becoming increasingly wide-spread. Many of these applications require accurate mathematical representations for control design, simulation and estimation. However, there is no consensus on a standardized model for these purposes. In this article a review of the most common elements included in QRV models reported in the literature is presented. This survey shows that some elements are recurrent for typical non-aerobatic QRV applications; in particular, for control design and high-performance simulation. By synthesising the common features of the reviewed models a standard generic model SGM is proposed. The SGM is cast as a typical state-space model without memory-less transformations, a structure which is useful for simulation and controller design. The survey also shows that many QRV applications use simplified representations, which may be considered simplifications of the SGM here proposed. In order to assess the effectiveness of the simplified models, a comprehensive comparison based on digital simulations is presented. With this comparison, it is possible to determine the accuracy of each model under particular operating ranges. Such information is useful for the selection of a model according to a particular application. In addition to the models found in the literature, in this article a novel simplified model is derived. The main characteristics of this model are that its inner dynamics are linear, it has low complexity and it has a high level of accuracy in all the studied operating ranges, a characteristic found only in more complex representations. To complement the article the main elements of the SGM are evaluated with the aid of experimental data and the computational complexity of all surveyed models is briefly analysed. Finally, the article presents a discussion on how the structural characteristics of the models are useful to suggest particular QRV control structures.
KW - Control
KW - Modelling
KW - Quadrotor
KW - Simulation
UR - http://www.scopus.com/inward/record.url?scp=85030773183&partnerID=8YFLogxK
U2 - 10.1016/j.paerosci.2017.09.001
DO - 10.1016/j.paerosci.2017.09.001
M3 - Artículo de revisión
AN - SCOPUS:85030773183
SN - 0376-0421
VL - 95
SP - 1
EP - 23
JO - Progress in Aerospace Sciences
JF - Progress in Aerospace Sciences
ER -