Please use this identifier to cite or link to this item: https://doi.org/10.1109/WCICA.2012.6358437
Title: Design and mathematical modeling of a 4-standard-propeller (4SP) quadrotor
Authors: Phang, S.K.
Cai, C.
Chen, B.M. 
Lee, T.H. 
Keywords: 4-standard-propeller quadrotor
Micro aerial vehicle
nonlinear model
quadrotor
Issue Date: 2012
Source: Phang, S.K.,Cai, C.,Chen, B.M.,Lee, T.H. (2012). Design and mathematical modeling of a 4-standard-propeller (4SP) quadrotor. Proceedings of the World Congress on Intelligent Control and Automation (WCICA) : 3270-3275. ScholarBank@NUS Repository. https://doi.org/10.1109/WCICA.2012.6358437
Abstract: The recent development of small yet sophisticated sensors has led to the development of smaller unmanned aerial vehicles, especially in the form of quadrotor. When it is limited by the availability of the reverse propellers, the conventional quadrotor will no longer be realizable, and thus introducing the 4-standard-propeller (4SP) quadrotor design. This paper presents a comprehensive nonlinear modeling of a 4SP quadrotor, and the guidelines to design it. The advantages of constructing such aircraft and its detailed working principle are first highlighted. A nonlinear mathematical model is then derived based on the first-principles approach. The model parameters are finally identified and verified through actual flight tests. © 2012 IEEE.
Source Title: Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
URI: http://scholarbank.nus.edu.sg/handle/10635/69838
ISBN: 9781467313988
DOI: 10.1109/WCICA.2012.6358437
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