Development and Validation of Flight Dynamics

Model of Quadrotor

Abhishek Kumar Shastry

University of Maryland, College Park
GNC, AIAA Sci-tech
11th January, 2018
Gaylord Palms, Kissimmee, Florida
 Overview

• Modelling of quadrotor’s dynamics

• Development of generalized rotor kinetics model using hybrid-BEMT.
• Experimental validation of the model.
• Adaptive control theory
• Development of adaptive control for quadrotors
• Numerical results
• Summary
 Multirotor UAV dynamics

Translational dynamics (in inertial coordinate axis): Rotational dynamics (in body-fixed coordinate axis):

Conventional rotor kinetics model,

 Multirotor UAV dynamics
For Quad rotors:

1. Beard, R. W. and Mc lain, T.W., Small unmanned aircraft: Theory and practice,
Princeton university press, chap. 2-4, 2012.
2. Stengel, R. F., Flight dynamics, Princeton University Press, chap. 3, 2015.
 Rotor Kinetics (using BEMT)
From Blade-Element theory(BET),

(Thrust)

(Drag)

(Side force)

(Yaw)

(Roll)

(Pitch)

Here, ,
 Rotor Kinetics (using BEMT)
𝑉∞
From momentum theory,

𝑑ψ
𝑑𝑟

𝑉∞
Comparing with thrust coefficient from BET,
𝑈 𝑣𝑖

Solution of this gives the induced inflow

Flow through infinitesimal section of rotor disc

Leishman, J.G., Principles of Helicopter Aerodynamics, Cambridge University Press,

chap. 2, pp. 115-170, 2nd ed., 2006.
Propeller’s geometric modelling

11X4.5 APC
CAD model (generated using laser scanner)
Propeller’s aerodynamic modelling

All data are obtained using XFLR software:

XFLR software page, http://www.xr5.com/xr5.htm Retreived 11th June, 2016
Static experiment
 Vehicle for dynamic experiments

Flight management unit (FMU)

Bumblebee quadrotor

Setup for control input(RPM) measurement

Dynamic experiment (in hover conditions)

Control Inputs
Dynamic Experiment (in forward flight conditions)

Control Inputs
 Adaptive control design
• Dynamics of control-affine systems

• Approximated dynamics equation

• Error dynamics

• Weight update law (from Lyapunov stability analysis)

• Control law
 Adaptive control for quadrotors
Outer loop design
• Translational dynamics with uncertainties

• Approximate dynamics for control derivation

 Adaptive control for quadrotors
Outer loop design
• Weight update law:

• Control law:
 Adaptive control for quadrotors
Inner loop design
• Rotational dynamics with uncertainties

• Approximate dynamics for control derivation

 Adaptive control for quadrotors
Inner loop design
• Weight update law:
 Adaptive control for quadrotors
Inner loop design
• Control law:
 Control architecture

1. Hassoun, M. H., Fundamentals of artificial neural networks, MIT press, chap. 2, 1995.
2. Padhi, R., Unnikrishnan, N., and Balakrishnan, S., “Model-following neuro-adaptive control
design for non-square, non-affine nonlinear systems”, IET Control Theory and Application, Vol.
1, No. 6, 2007, pp. 1650-1661.
 Numerical results
• Uncertainty in mass

Plant parameters
 Numerical results
• Uncertainty in moment of inertia

Plant parameters
 Numerical results
• Uncertainty in rotor aerodynamics (at speed of 15m/s)

Plant parameters
 Numerical results
• Fault tolerant

Plant parameters
 Summary

The important contributions of the research are:

• Development of a generalized rotor kinetics model using BEMT.

• Verification of the model using comparisons with experimental results.
• Development of an adaptive controller for quadrotors.
• Demonstration of the versatility and fault tolerant capability of the
controllers through numerical simulations.
 References
1. Beard, R. W. and Mc lain, T.W., Small unmanned aircraft: Theory and practice,
Princeton university press, chap. 2-4, 2012.
2. Stengel, R. F., Flight dynamics, Princeton University Press, chap. 3, 2015.
3. Homann, Gabriel M., et al. "Quadrotor helicopter Flight dynamics and control:
Theory and experiment" Proc. of the AIAA Guidance, Navigation, and Control
Conference. Vol. 2. 2007.
4. Leishman, J.G., Principles of Helicopter Aerodynamics, Cambridge University Press,
chap. 2, pp. 115-170, 2nd ed., 2006.
5. Hassoun, M. H., Fundamentals of artificial neural networks, MIT press, chap. 2,
1995.
6. Padhi, R., Unnikrishnan, N., and Balakrishnan, S., “Model-following neuro-adaptive
control design for non-square, non-affine nonlinear systems”, IET Control Theory
and Application, Vol. 1, No. 6, 2007, pp. 1650-1661.
7. Park, Jooyoung, and Irwin W. Sandberg. "Universal approximation using radialbasis-
function networks" Neural computation 3.2 (1991): 246-257.