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Research Article

Engineering and Technology Research 2(2): 007-013, April 2020
DOI: 10.15413/etr.2020.106

ISSN: 2682 5716
©2019 Academia Publishing




Quadrotor trajectory tracking: An approach varying arms’ length



Accepted 2nd April, 2020

Alejandro Molina, Horacio Simonetti and Mabel N. Bottoni

Universidad Tecnológica Nacional, Facultad Regional Bahía Blanca, Argentina.



Quadrotors have attracted the attention of researchers, mainly due to the revolution they are producing in different industries, generating applications such as surveillance of facilities, access to risky areas, taking aerial images and others. On the other hand, the platforms of these devices are suitable for the field of teaching, since they bring together areas of knowledge such as mechanics, applied mathematics, electronics and automation, opening the doors for the application of tools such as rotation matrices, moments, inertia’s tensors, matrices, Euler,’s angles, quaternions, electronic speed controls, etc. The present study will present a mathematical model of a quadrotor’s dynamics, which can serve as a basis to study in detail the intervening physical variables and develop methods of stabilization and control for trajectory, which involve a complex work, given that the device has six degrees of freedom but has only four control inputs. The differential equations that will be obtained derive from the Newton - Euler and Euler - Lagrange equations, widely used in this field. On the other hand, during the development, a graph model will be proposed to represent the mathematical model, which will be used to carry out the initial field experiences. The starting point for the investigation is the basic dynamic model for a quadrotor, although more complex aerodynamic properties will be introduced.

Key words: Quadrotor, trajectory tracking, arm’s length, graph’s diagram.

Cite this article as:
Molina A, Simonetti H, Bottoni MN (2020). Quadrotor trajectory tracking: An approach varying arms’ length Res. Eng. Technol. Res. 2(2): 007-013.

This is an open access article published under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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