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Mathematical Modelling of Translation and Rotation Movement in Quad Tiltrotor

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@article{IJASEIT2171,
   author = {Andi Dharmawan and Ahmad Ashari and Agfianto Eko Putra},
   title = {Mathematical Modelling of Translation and Rotation Movement in Quad Tiltrotor},
   journal = {International Journal on Advanced Science, Engineering and Information Technology},
   volume = {7},
   number = {3},
   year = {2017},
   pages = {1104--1113},
   keywords = {UAV; underactuated; control; state space},
   abstract = {Quadrotor as one type of UAV (Unmanned Aerial Vehicle) is an underactuated mechanical system. It means that the system has some control inputs is lower than its DOF (Degrees of Freedom). This condition causes quadrotor to have limited mobility because of its inherent under actuation, namely, the availability of four independent control signals (four-speed rotating propellers) versus 6 degrees of freedom parameterizing quadrotor position or orientation in space. If a quadrotor is made to have 6 DOF, a full motion control system to optimize the flight will be different from before. So it becomes necessary to develop over actuated quad tiltrotor. Quad tiltrotor has control signals more than its DOF. Therefore, we can refer it to the overactuated system. We need a good control system to fly the quad tiltrotor. Good control systems can be designed using the model of the quad tiltrotor system. We can create quad tiltrotor model using its dynamics based on Newton-Euler approach. After we have a set of model, we can simulate the control system using some control method. There are several control methods that we can use in the quad tiltrotor flight system. However, we can improve the control by implementing a modern control system that uses the concept of state space. The simulations show that the quad tiltrotor has done successful translational motion without significant interference. Also, undesirable rotation movement in the quad tiltrotor flight when performing the translational motions resulting from the transition process associated with the tilt rotor change was successfully reduced below 1 degree.},
   issn = {2088-5334},
   publisher = {INSIGHT - Indonesian Society for Knowledge and Human Development},
   url = {http://ijaseit.insightsociety.org/index.php?option=com_content&view=article&id=9&Itemid=1&article_id=2171},
   doi = {10.18517/ijaseit.7.3.2171}
}

EndNote

%A Dharmawan, Andi
%A Ashari, Ahmad
%A Putra, Agfianto Eko
%D 2017
%T Mathematical Modelling of Translation and Rotation Movement in Quad Tiltrotor
%B 2017
%9 UAV; underactuated; control; state space
%! Mathematical Modelling of Translation and Rotation Movement in Quad Tiltrotor
%K UAV; underactuated; control; state space
%X Quadrotor as one type of UAV (Unmanned Aerial Vehicle) is an underactuated mechanical system. It means that the system has some control inputs is lower than its DOF (Degrees of Freedom). This condition causes quadrotor to have limited mobility because of its inherent under actuation, namely, the availability of four independent control signals (four-speed rotating propellers) versus 6 degrees of freedom parameterizing quadrotor position or orientation in space. If a quadrotor is made to have 6 DOF, a full motion control system to optimize the flight will be different from before. So it becomes necessary to develop over actuated quad tiltrotor. Quad tiltrotor has control signals more than its DOF. Therefore, we can refer it to the overactuated system. We need a good control system to fly the quad tiltrotor. Good control systems can be designed using the model of the quad tiltrotor system. We can create quad tiltrotor model using its dynamics based on Newton-Euler approach. After we have a set of model, we can simulate the control system using some control method. There are several control methods that we can use in the quad tiltrotor flight system. However, we can improve the control by implementing a modern control system that uses the concept of state space. The simulations show that the quad tiltrotor has done successful translational motion without significant interference. Also, undesirable rotation movement in the quad tiltrotor flight when performing the translational motions resulting from the transition process associated with the tilt rotor change was successfully reduced below 1 degree.
%U http://ijaseit.insightsociety.org/index.php?option=com_content&view=article&id=9&Itemid=1&article_id=2171
%R doi:10.18517/ijaseit.7.3.2171
%J International Journal on Advanced Science, Engineering and Information Technology
%V 7
%N 3
%@ 2088-5334

IEEE

Andi Dharmawan,Ahmad Ashari and Agfianto Eko Putra,"Mathematical Modelling of Translation and Rotation Movement in Quad Tiltrotor," International Journal on Advanced Science, Engineering and Information Technology, vol. 7, no. 3, pp. 1104-1113, 2017. [Online]. Available: http://dx.doi.org/10.18517/ijaseit.7.3.2171.

RefMan/ProCite (RIS)

TY  - JOUR
AU  - Dharmawan, Andi
AU  - Ashari, Ahmad
AU  - Putra, Agfianto Eko
PY  - 2017
TI  - Mathematical Modelling of Translation and Rotation Movement in Quad Tiltrotor
JF  - International Journal on Advanced Science, Engineering and Information Technology; Vol. 7 (2017) No. 3
Y2  - 2017
SP  - 1104
EP  - 1113
SN  - 2088-5334
PB  - INSIGHT - Indonesian Society for Knowledge and Human Development
KW  - UAV; underactuated; control; state space
N2  - Quadrotor as one type of UAV (Unmanned Aerial Vehicle) is an underactuated mechanical system. It means that the system has some control inputs is lower than its DOF (Degrees of Freedom). This condition causes quadrotor to have limited mobility because of its inherent under actuation, namely, the availability of four independent control signals (four-speed rotating propellers) versus 6 degrees of freedom parameterizing quadrotor position or orientation in space. If a quadrotor is made to have 6 DOF, a full motion control system to optimize the flight will be different from before. So it becomes necessary to develop over actuated quad tiltrotor. Quad tiltrotor has control signals more than its DOF. Therefore, we can refer it to the overactuated system. We need a good control system to fly the quad tiltrotor. Good control systems can be designed using the model of the quad tiltrotor system. We can create quad tiltrotor model using its dynamics based on Newton-Euler approach. After we have a set of model, we can simulate the control system using some control method. There are several control methods that we can use in the quad tiltrotor flight system. However, we can improve the control by implementing a modern control system that uses the concept of state space. The simulations show that the quad tiltrotor has done successful translational motion without significant interference. Also, undesirable rotation movement in the quad tiltrotor flight when performing the translational motions resulting from the transition process associated with the tilt rotor change was successfully reduced below 1 degree.
UR  - http://ijaseit.insightsociety.org/index.php?option=com_content&view=article&id=9&Itemid=1&article_id=2171
DO  - 10.18517/ijaseit.7.3.2171

RefWorks

RT Journal Article
ID 2171
A1 Dharmawan, Andi
A1 Ashari, Ahmad
A1 Putra, Agfianto Eko
T1 Mathematical Modelling of Translation and Rotation Movement in Quad Tiltrotor
JF International Journal on Advanced Science, Engineering and Information Technology
VO 7
IS 3
YR 2017
SP 1104
OP 1113
SN 2088-5334
PB INSIGHT - Indonesian Society for Knowledge and Human Development
K1 UAV; underactuated; control; state space
AB Quadrotor as one type of UAV (Unmanned Aerial Vehicle) is an underactuated mechanical system. It means that the system has some control inputs is lower than its DOF (Degrees of Freedom). This condition causes quadrotor to have limited mobility because of its inherent under actuation, namely, the availability of four independent control signals (four-speed rotating propellers) versus 6 degrees of freedom parameterizing quadrotor position or orientation in space. If a quadrotor is made to have 6 DOF, a full motion control system to optimize the flight will be different from before. So it becomes necessary to develop over actuated quad tiltrotor. Quad tiltrotor has control signals more than its DOF. Therefore, we can refer it to the overactuated system. We need a good control system to fly the quad tiltrotor. Good control systems can be designed using the model of the quad tiltrotor system. We can create quad tiltrotor model using its dynamics based on Newton-Euler approach. After we have a set of model, we can simulate the control system using some control method. There are several control methods that we can use in the quad tiltrotor flight system. However, we can improve the control by implementing a modern control system that uses the concept of state space. The simulations show that the quad tiltrotor has done successful translational motion without significant interference. Also, undesirable rotation movement in the quad tiltrotor flight when performing the translational motions resulting from the transition process associated with the tilt rotor change was successfully reduced below 1 degree.
LK http://ijaseit.insightsociety.org/index.php?option=com_content&view=article&id=9&Itemid=1&article_id=2171
DO  - 10.18517/ijaseit.7.3.2171