Article | Proceedings of the 12th International Modelica Conference, Prague, Czech Republic, May 15-17, 2017 | Multirotor Aerial Vehicle modeling in Modelica Linköping University Electronic Press Conference Proceedings
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Title:
Multirotor Aerial Vehicle modeling in Modelica
Author:
Muhamed Kuric: Department of Automatic Control and Electronics, Faculty of Electrical Engineering, University of Sarajevo, Zmaja od Bosne bb, 71000 Sarajevo, Bosnia and Herzegovina Nedim Osmic: Department of Automatic Control and Electronics, Faculty of Electrical Engineering, University of Sarajevo, Zmaja od Bosne bb, 71000 Sarajevo, Bosnia and Herzegovina Adnan Tahirovic: Department of Automatic Control and Electronics, Faculty of Electrical Engineering, University of Sarajevo, Zmaja od Bosne bb, 71000 Sarajevo, Bosnia and Herzegovina
DOI:
10.3384/ecp17132373
Download:
Full text (pdf)
Year:
2017
Conference:
Proceedings of the 12th International Modelica Conference, Prague, Czech Republic, May 15-17, 2017
Issue:
132
Article no.:
042
Pages:
373-380
No. of pages:
8
Publication type:
Abstract and Fulltext
Published:
2017-07-04
ISBN:
978-91-7685-575-1
Series:
Linköping Electronic Conference Proceedings
ISSN (print):
1650-3686
ISSN (online):
1650-3740
Publisher:
Linköping University Electronic Press, Linköpings universitet


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This paper presents a generalized multirotor aerial vehicle (MAV) modeling framework which includes rigid body dynamics, gyroscopic effects and motor dynamics. We illustrate how this model can be used to derive any MAV platform constructed with an arbitrary number of rotors by using the quadrotor case as an example. Based on this result, we design the first Modelica-based MAV simulator. We validate the proposed design by using a simple altitude and attitude stabilization control system through a Modelica simulation setup.

Keywords: Multirotor Aerial Vehicle, Modeling, Modelica

Proceedings of the 12th International Modelica Conference, Prague, Czech Republic, May 15-17, 2017

Author:
Muhamed Kuric, Nedim Osmic, Adnan Tahirovic
Title:
Multirotor Aerial Vehicle modeling in Modelica
DOI:
http://dx.doi.org/10.3384/ecp17132373
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Proceedings of the 12th International Modelica Conference, Prague, Czech Republic, May 15-17, 2017

Author:
Muhamed Kuric, Nedim Osmic, Adnan Tahirovic
Title:
Multirotor Aerial Vehicle modeling in Modelica
DOI:
https://doi.org10.3384/ecp17132373
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