Abstract
A geometric dynamic modeling framework for generic multirotor aerial vehicles (MAV), based on a modern Lie group formulation of classical screw theory, is presented. Our framework allows for a broad range of rotor-wing configurations: any number of rotors can be attached in arbitrary configurations to either the body or wings, with the rotors and wings also tiltable. Our framework takes into account all masses and inertias of the MAV body and rotors, and accounts for both rotor thrust forces and moments as well as external aerodynamic and other forces. Compared to existing methods, our Lie group framework possesses several practical advantages useful for applications ranging from design optimization to model identification and trajectory optimization: (1) the dynamic equations can be easily transformed to coordinates of any reference frame; (2) kinematic and mass–inertial parameters can be easily factored from the dynamic equations; (3) exact, closed-form analytic derivatives of the dynamics with respect to the configuration variables are easily derived. We demonstrate our systematic modeling procedure on examples of fixed-tilt, variable-tilt and hybrid MAVs with wings.
Highlights
Multirotor aerial vehicles (MAV) come in a wide variety of designs and configurations, from the standard quadrotor-type unmanned aerial vehicle (UAV) to those with rotor axes aligned in different directions, some actively tiltable, possibly with fixed or moving wings attached to various parts of the vehicle
With the growing diversity of designs, together with the increasingly dynamic and complex maneuvers that are being performed by MAVs, accurate mathematical models are becoming more and more critical to their control and design
[4, 14, 21, 28] address the dynamics of simple omnidirectional aerial vehicles with rotors aligned in arbitrary directions, but only the mass-inertia of the main body is considered, and the dynamics is formulated in the conventional way with respect the center of mass frame only
Summary
Keywords: Multirotor aerial vehicle , Multi-body dynamics , Screw theory , Lie group , Lie algebra License: This work is licensed under a Creative Commons Attribution 4.0 International License. Read Full License Version of Record: A version of this preprint was published at Nonlinear Dynamics on November 25th, 2021. See the published version at https://doi.org/10.1007/s11071-021-07042-6. Youngsuk Hong · Ramy Rashad · Soocheol Noh · Taeyoon Lee · Stefano Stramigioli · Frank C. Park
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