Modeling and Quaternion Control of X-Type Quadrotor

Authors

Shaobin Ding, 1. Hubei Inland Shipping Technology Key Laboratory, Wuhan 430063, China; ;2. Key Laboratory of Fiber Optic Sensing Technology and Information Processing, Ministry of Education, School of Information Engineering,Wuhan University of Technology, Wuhan 430070, China;
Changshi Xiao, 1. Hubei Inland Shipping Technology Key Laboratory, Wuhan 430063, China; ;
Jingen Liu, 2. Key Laboratory of Fiber Optic Sensing Technology and Information Processing, Ministry of Education, School of Information Engineering,Wuhan University of Technology, Wuhan 430070, China;
Yuanqiao Wen, 1. Hubei Inland Shipping Technology Key Laboratory, Wuhan 430063, China; ;

Abstract

Abstract: A comprehensive dynamic model of X-type quadrotor was established and simulated. Different from other widely used models that usually treated quadrotor as a single-rigid-body system, the rotors, propellers and the aircraft body were treated as a multi-rigid-body system in the proposed model. The 3D model wireframe was constructed using Solidworks and the important inertial parameters were extracted from the design data. Two types of multi-channel-double-loop vector PD flight controller were designed and fine tuned, one was based on quaternion feedback and the other was based on Euler angle feedback. The close-loop systems were simulated on Matlab/Simulink. The simulation results show that both systems achieve stable control of aircraft position and pose, however, quaternion feedback based controller shows shorter transition time, less computation and no singularity point compared to Euler angle feedback based controller.

Recommended Citation

Ding, Shaobin; Xiao, Changshi; Liu, Jingen; and Wen, Yuanqiao (2020) "Modeling and Quaternion Control of X-Type Quadrotor," Journal of System Simulation: Vol. 27: Iss. 12, Article 26.
Available at: https://dc-china-simulation.researchcommons.org/journal/vol27/iss12/26

First Page

3057

Revised Date

2014-09-17

DOI Link

https://doi.org/

Last Page

3062

CLC

TP391.9

Recommended Citation

Ding Shaobin, Xiao Changshi, Liu Jingen, Wen Yuanqiao. Modeling and Quaternion Control of X-Type Quadrotor[J]. Journal of System Simulation, 2015, 27(12): 3057-3062.