Mobile Intelligent Autonomous Systems

25	Integrated Modelling, Simulation and Controller Design for an Autonomous Quadrotor Micro Air Vehicle Nitin K. Gupta and N. Ananthkrishnan

CONTENTS

25.1    Introduction

25.2    Quadrotor Micro Air Vehicle

25.3    Dynamic Model of the Vehicle

25.3.1    Kinematics Model

25.3.2    Force Equations

25.3.3    Moment Equations

25.3.4    Motor Dynamics

25.4    Controller Design Aspects

25.5    Flight Simulation

25.6    Simulation Rig and Flight Testing

25.6.1    Tests Using Rigs

25.6.2    Flight Test Experiments

25.7    Concluding Remarks

Appendix: Nomenclature

Acknowledgements

References

25.1    INTRODUCTION

In recent decades, there have been several programmes for the development of micro and mini aerial vehicles, and many of these have ...