Asctec Pelican Mathemathical Model ?

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Asctec Pelican Mathemathical Model ?

Daniel
Does anyone have a well explain mathemathical model of the Asctec Pelican quadrotor?
I am trying to get the most accurate model since I have to work with this model in order to develop control algorithms...

Any one can help me ?

Really appreciated,

Daniel Antezana
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RE: Asctec Pelican Mathemathical Model ?

MarkusAchtelik
Hi Daniel,

it's not directly for the asctec pelican, but you could have a look at our lecture/exercise material ("rotary wing section") of our Unmanned Aircraft Design, Modeling and Control lecture. http://www.asl.ethz.ch/education/master/aircraft

Best, Markus

________________________________
From: Daniel [via asctec-users] [[hidden email]]
Sent: Friday, February 25, 2011 13:58
To: Achtelik Markus
Subject: Asctec Pelican Mathemathical Model ?

Does anyone have a well explain mathemathical model of the Asctec Pelican quadrotor?
I am trying to get the most accurate model since I have to work with this model in order to develop control algorithms...

Any one can help me ?

Really appreciated,

Daniel Antezana

________________________________
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Re: Asctec Pelican Mathemathical Model ?

Bill Morris
Administrator
In reply to this post by Daniel
On Fri, 2011-02-25 at 04:58 -0800, Daniel [via asctec-users] wrote:
> Does anyone have a well explain mathemathical model of the Asctec
> Pelican quadrotor?
> I am trying to get the most accurate model since I have to work with
> this model in order to develop control algorithms...

The model shown in this thesis is fairly complete.
http://biblion.epfl.ch/EPFL/theses/2007/3727/EPFL_TH3727.pdf


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Re: Asctec Pelican Mathemathical Model ?

Jeroen Veerman
Here's a part of my .bib file containing research on quad-rotor helicopters:

%% This BibTeX bibliography file was created using BibDesk.
%% http://bibdesk.sourceforge.net/
%% Created for Jeroen Veerman at 2011-02-25 11:35:29 +0100
%% Saved with string encoding Unicode (UTF-8)

@techreport{DCMotor,
        Author = {P. Wolm and X.Q. Chen and J.G. Chase and W. Pettigrew and C.E. Hann},
        Date-Added = {2010-12-22 11:29:14 +0100},
        Date-Modified = {2010-12-22 11:35:04 +0100},
        Institution = {University of Cantebury},
        Title = {Analysis of a PM DC Motor Model for Application in Feedback Design for Electric Powered Mobility Vehicles}}

@techreport{Australian,
        Author = {P. Corke and J. Gresham and R. Mahony},
        Date-Modified = {2010-12-15 10:33:24 +0100},
        Institution = {Australian National University},
        Note = {\url{http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.124.8460&rep=rep1&type=pdf}, last visited 28-10-2010},
        Title = {Towards Dynamically-Favourable Quad-Rotor Aerial Robots},
        Year = {2004}}

@techreport{Australian2,
        Author = {P. Corke and R. Mahony and P. Pounds},
        Date-Modified = {2010-12-15 10:36:01 +0100},
        Institution = {Australian National University},
        Note = {\url{http://eprints.qut.edu.au/33767/1/33767.pdf}, last visited 28-10-2010},
        Title = {Modelling and Control of a Quad-Rotor Robot},
        Year = {2006}}

@mastersthesis{Cranfield,
        Author = {S. G. Roche},
        School = {Cranfield University},
        Title = {Investigation of Performance Improvements for a Quad-Rotor UAV},
        Year = {2007}}

@techreport{Cranfield2,
        Author = {C. Balas},
        Institution = {Cranfield University},
        Note = {\url{http://citeseerx.ist.psu.edu/}, last visited 28-10-2010},
        Title = {Modeling and Linear Control of a Quad-Rotor},
        Year = {2007}}

@book{Leishman,
        Author = {J. G. Leishman},
        Publisher = {Cambridge University Press},
        Title = {Principles of Helicopter Aerodynamics},
        Year = {2000}}

@techreport{NASA,
        Author = {J. C. Wu and R. K. Sigman and P. M. Goorjian},
        Date-Modified = {2010-12-15 10:35:14 +0100},
        Institution = {NASA},
        Title = {Optimum Performance of Hovering Rotors},
        Year = {1972}}

@techreport{Sheffield,
        Author = {R. Barclay},
        Institution = {Bachelor degree, University of Sheffield},
        Note = {\url{http://www.dcs.shef.ac.uk/intranet/teaching/projects/archive/ug2005/pdf/u0rb.pdf}, last visited 28-10-2010},
        Title = {A Generic Simulator for Quad-Rotor Unmanned Aerial Vehicles},
        Year = {2005},
       
@techreport{Shantz,
        Author = {M. Shantz},
        Institution = {Stanford University},
        Title = {PCB Flyer Simulator for Vision Stabilization},
        Year = {2000}}

@techreport{Swiss,
        Author = {S. Bouabdallabh and P. Murrieri and R. Siegwart},
        Date-Modified = {2010-12-15 10:32:06 +0100},
        Institution = {Swiss Federal Institute of Technology},
        Note = {\url{http://citeseerx.ist.psu.edu/}, last visited 28-10-2010},
        Title = {Design and Control of an Indoor Micro Quadrotor},
        Year = {2004},
       
@conference{British,
        Author = {M. Chen, M. Huzmezan},
        Booktitle = {International Conference of Modeling, Simulation, and Optimization},
        Institution = {University of British Columbia},
        Pages = {320-325},
        Title = {A Simulation Model and $H_{\infty}$ Loop shaping Control of a Quad Rotor Unmanned Air Vehicle},
        Year = {2003},
       
@article{Zemalache,
        Author = {K. M. Zemalache and L. Beji and H. Maaref},
        Date-Modified = {2010-12-15 10:31:48 +0100},
        Journal = {Journal of Automation, Mobile Robotics \& Intelligent Systems},
        Note = {\url{http://www.jamris.org/01_2008/saveas.php?QUEST=JAMRIS_No01_2008_P_33-42.pdf}, last visited 28-10-2010},
        Number = {1},
        Title = {Control of a Drone: Study and Analysis of the Robustness},
        Volume = {2},
        Year = {2008},

@conference{Voos,
        Author = {H. Voos},
        Booktitle = {International Conference on Control Applications},
        Pages = {2547-2552},
        Title = {Nonlinear State-Dependent Riccati Equation Control of a Quadrotor UAV},
        Year = {2006}}

@techreport{Atilim,
        Author = {K. T. Oner and E. Cetinsoy and M. Unel},
        Date-Modified = {2010-12-15 10:36:51 +0100},
        Institution = {University of Atilim},
        Note = {\url{http://research.sabanciuniv.edu/11198/1/Paper-FR36000-ICCARV08.pdf}, last visited 28-10-2010},
        Title = {Dynamic Model and Control of a New Quadrotor Unmanned Aerial Vehicle with Tilt-Wing Mechanism},
        Year = {2008}}

@conference{Seville,
        Author = {G. V. Raffo and M. G. Ortega and F. R. Rubio},
        Booktitle = {International Federation of Automatic Control},
        Date-Modified = {2010-12-15 10:35:51 +0100},
        Institution = {University of Seville},
        Note = {\url{http://www.nt.ntnu.no/users/skoge/prost/proceedings/ifac2008/data/papers/2578.pdf}, last visited 05-11-2010},
        Pages = {8564-8569},
        Title = {MPC with Nonlinear $H_{\infty}$ Control for Path Tracking of a Quad-Rotor Helicopter},
        Year = {2008}}

@techreport{Castillo1,
        Author = {P. Castillo and A. Dzul and R. Lozano},
        Date-Modified = {2010-12-15 10:33:56 +0100},
        Institution = {Universit\'e de Technologie de Compi\`egne},
        Note = {\url{http://www.nt.ntnu.no/users/skoge/prost/proceedings/ecc03/pdfs/525.pdf}, last visited 28-10-2010},
        Title = {Real-Time Stabilization and Tracking of a Four-Rotor Mini Rotorcraft},
        Year = {2004}}

@misc{Castillo2,
        Author = {P. Castillo and A. Dzul and R. Lozano},
        Date-Modified = {2010-12-15 10:36:21 +0100},
        Title = {Modeling and Control of Mini-Flying Machines},
        Year = {2005}}

@inproceedings{Castillo3,
        Author = {P. Castillo and A. Dzul and R. Lozano},
        Booktitle = {IEEE Control Systems Magazine},
        Date-Modified = {2010-12-15 10:36:41 +0100},
        Note = {\url{http://www3.uta.edu/faculty/subbarao/MAE5337NonlinearControl/IEEECSMagazine.pdf}, last visited 28-10-2010},
        Pages = {45-55},
        Title = {Experimental Implementation of Linear and Non-Linear Control Laws},
        Year = {2005}}

@phdthesis{Russ,
        Author = {M. J. Stepaniak},
        Note = {\url{http://www.dtic.mil/cgi-bin/GetTRDoc?Location=U2&doc=GetTRDoc.pdf&AD=ADA486264}, last visited 28-10-2010},
        School = {Ohio University},
        Title = {A Quad-rotor Sensor Platform},
        Year = {2008},

@conference{Dunfied,
        Author = {J. Dunfied and M. Tarbouchi and G. Labonte},
        Booktitle = {International Conference on Industrial Technology},
        Date-Modified = {2010-12-15 10:35:22 +0100},
        Pages = {1543-1548},
        Title = {Neural Network Based control of a Four Rotor Helicopter},
        Year = {2004}}

@misc{Sardar,
        Author = {C. A. Patel},
        Note = {\url{http://soar.wichita.edu/dspace/bitstream/10057/263/3/t06020.pdf}, last visited 29-10-2010},
        Title = {Building a Testbed for Mini Quadrotor Unmanned Aerial Vehicle with Protective Shroud},
        Year = {2006},

@techreport{Worcester,
        Author = {A. DiCesare and K. Gustafson and P. Lindenfelzer},
        Date-Modified = {2010-12-15 10:32:50 +0100},
        Institution = {Bachelor degree, Worcester Polytechnic Institue},
        Note = {\url{http://www.wpi.edu/Pubs/E-project/Available/E-project-030609-124019/unrestricted/MQP_Report_Quadrotor_Final\%5B1\%5D.pdf}, last visited 29-10-2010},
        Title = {Design Optimization of a Quad-Rotor Capable of Autonomous Flight},
        Year = {2008}}

@misc{Ziegler,
        Note = {\url{http://en.wikipedia.org/wiki/Ziegler-Nichols_method}, last visited 29-10-2010},
        Title = {Ziegler-Nichols method}}

@article{Clemson,
        Author = {A. E. Neff and D. Lee and V. K. Chitrakaran},
        Date-Modified = {2010-12-15 10:33:15 +0100},
        Journal = {SoutheastCon, 2007. Proceedings. IEEE},
        Pages = {273-278},
        Title = {Velocity Control for a Quad-Rotor UAV Fly-By-Camera Interface},
        Year = {2007}}

@techreport{Rome,
        Author = {G. Angeletti and J. R. P. Valente and L. Iocchi},
        Date-Modified = {2010-12-15 10:31:17 +0100},
        Institution = {Sapienza University of Rome},
        Note = {\url{http://citeseerx.ist.psu.edu/}, last visited 28-10-2010},
        Title = {Autonomous Indoor Hovering with a Quadrotor},
        Year = {2008},
       
@conference{Erginer,
        Author = {B. Erginer and E. Altug},
        Booktitle = {Intelligent Vehicles Symposium},
        Date-Modified = {2010-12-15 10:36:07 +0100},
        Note = {\url{http://web.itu.edu.tr/~altuger/Documents/Papers/IV2007.pdf}, last visited 28-10-2010},
        Pages = {894-899},
        Title = {Modeling and PD Control of a Quadrotor VTOL Vehicle},
        Year = {2007}}

@conference{Stanford,
        Author = {G. Hoffmann and D. G. Rajnarayan and S. L. Waslander},
        Booktitle = {Digital Avionics Systems Conference},
        Date-Modified = {2010-12-15 10:33:33 +0100},
        Note = {\url{http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.74.999[1].pdf}, last visited 28-10-2010},
        Pages = {12.E.4-121-10},
        Title = {The Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC)},
        Year = {2004}}

@conference{Stanford2,
        Author = {G. Hoffmann and H. Huang and S. L. Waslander},
        Booktitle = {Guidance, Navigation and Control Conference Exhibit},
        Date-Modified = {2010-12-15 10:34:45 +0100},
        Note = {\url{http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.77.9015&rep=rep1&type=pdf}, last visited 28-10-2010},
        Title = {Quadrotor Helicopter Flight Dynamics and Control Theory and Experiment},
        Year = {2007}}

@conference{Stanford3,
        Author = {G. Hoffmann and J. S. Jang and C. J. Tomlin},
        Booktitle = {International Conference on Intelligent Robots and Systems},
        Date-Modified = {2010-12-15 10:35:32 +0100},
        Note = {\url{http://www.eecs.berkeley.edu/~tomlin/papers/conferences/whjt05_iros.pdf}, last visited 28-10-2010},
        Pages = {468-473},
        Title = {Multi-Agent X4-Flyer Testbed Control Design: Integral Sliding Mode vs. Reinforcement Learning},
        Year = {2005}}

@article{Bringham,
        Author = {D. Kingston and R. Beard and T. McLain},
        Date-Modified = {2010-12-15 10:31:35 +0100},
        Journal = {Journal of Aerospace Computing, Information and Communication},
        Note = {\url{http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.1.3490&rep=1&type=pdf}, last visited 28-10-2010},
        Pages = {92-108},
        Title = {Autonomous Vehicle Technologies for Small Fixed Wing UAVs},
        Volume = {2},
        Year = {2003},
       
@mastersthesis{Bringham2,
        Author = {S. G. Fowers},
        Note = {\url{ftp://www.inc.eng.kmutt.ac.th/pornpoj/Quadrotor/etd2375.pdf}, last visited 28-10-2010},
        School = {Brigham Young University},
        Title = {Stabilization and Control of a Quad-rotor Micro-UAV Using Vision Sensors},
        Year = {2008}}

@phdthesis{Cambridge,
        Author = {C. Kemp},
        Note = {\url{http://mi.eng.cam.ac.uk/~twd20/Research/Kemp-thesis.pdf}, last visited 29-10-2010},
        School = {University of Cambridge},
        Title = {Visual Control of a Miniature Quad-Rotor Helicopter},
        Year = {2006}}

@techreport{Dakota,
        Author = {R. Bhushan and T. Hullinger and B. Jensen},
        Date-Modified = {2010-12-15 10:32:24 +0100},
        Institution = {South Dakota School of Mines and Technology},
        Note = {\url{http://iarc.angel-strike.com/2010SymposiumPapers/SDSM&T_2010.pdf}, last visited 28-10-2010},
        Title = {Design and Development of South Dakota School of Mines and Technology's Aerial Robotic Reconnaissance System},
        Year = {2010}}

@misc{Essex,
        Author = {J. Oyekan, H. Hu},
        Note = {\url{http://www.essex.ac.uk/staff/hhu/Papers/HAM\%202009.pdf}, last visited 28-10-2010},
        Title = {Towards Autonomous Patrol Behaviors for UAVs}}

@mastersthesis{Hanford,
        Author = {S. D. Hanford and L. N. Long and J. F. Horn},
        Date-Modified = {2010-12-15 10:30:56 +0100},
        Note = {\url{http://www.personal.psu.edu/lnl/papers/aiaa20057077.pdf}, last visited 28-10-2010},
        School = {Pennsylvania State University},
        Title = {A Small Semi-Autonomous Rotary-Wing Unmanned Air Vehicle},
        Year = {2005},
       
@misc{Hanford2,
        Author = {N. Michael and D. Mellinger and Q. Lindsey},
        Date-Modified = {2010-12-15 10:33:43 +0100},
        Institution = {Pennsylvania State University},
        Note = {\url{http://www.seas.upenn.edu/~dmel/RAM2010.pdf}, last visited 01-11-2010},
        Title = {The GRASP Multiple Micro UAV Testbed},
        Year = {2010}}

@conference{Hanford3,
        Author = {V. Kumar and D. Mellinger and M. Shomin},
        Booktitle = {International Powered Lift Conference},
        Date-Modified = {2010-12-15 10:31:57 +0100},
        Institution = {Pennsylvania State University},
        Note = {\url{http://www.seas.upenn.edu/~dmel/IPLCmellinger.pdf}, last visited 05-11-2010},
        Title = {Control of Quadrotors for Robust Perching and Landing},
        Year = {2010},

@conference{Earl,
        Author = {M. G. Earl and R. D'Andrea},
        Booktitle = {Conference on Decision and Control},
        Date-Modified = {2010-12-15 10:34:14 +0100},
        Pages = {3956-3961},
        Title = {Real-time Attitude Estimation Techniques Applied to a Four Rotor Helicopter},
        Year = {2004}}

@mastersthesis{Earl2,
        Author = {E. B. Nice},
        Note = {\url{http://ecommons.library.cornell.edu/retrieve/134/Designof4RotHoverVehicle.pdf}, last visited 28-10-2010},
        School = {Cornell University},
        Title = {Design of a Four Rotor Hovering Vehicle},
        Year = {2004}}

@conference{Swiss2,
        Author = {S. Bouabdallabh and A. Noth, R. Siegwart},
        Booktitle = {Conference on Intelligent Robots and Systems},
        Date-Modified = {2010-12-15 10:35:02 +0100},
        Note = {\url{http://citeseerx.ist.psu.edu/}, last visited 28-10-2010},
        Pages = {2451-2456},
        Title = {PID vs LQ Control Techniques Applied to an Indoor Micro Quadrotor}}

@mastersthesis{How,
        Author = {B. Bethke},
        Note = {\url{http://dspace.mit.edu/bitstream/handle/1721.1/40392/191672952.pdf?sequence=1}, last visited 28-10-2010},
        School = {Massachusetts Institute of Technology},
        Title = {Persistent Vision-Based Search and Track Using Multiple UAVs},
        Year = {2007}}

@article{How2,
        Author = {B. Bethke and A. Frank and J. P. How},
        Date-Modified = {2010-12-15 10:34:08 +0100},
        Journal = {Control Systems Magazine},
        Pages = {51-64},
        Title = {Real-Time Indoor Autonomous Vehicle Test Environment},
        Year = {2008}}

@mastersthesis{Allborg,
        Author = {J. Bjorn and M. Kjaergaard and M. Sorensen},
        Date-Modified = {2010-12-15 10:27:52 +0100},
        Note = {\url{http://www.control.aau.dk/uav/reports/07gr1037a/07gr1037a_student_report.pdf}, last visited 29-10-2010},
        School = {Aalborg University},
        Title = {Autonomous Hover Flight for a Quad Rotor Helicopter},
        Year = {2007},
       
@article{PAHS,
        Author = {J. H. van Schuppen and L. C. F. J. M. Habets and P. J. Collins},
        Date-Modified = {2010-12-15 10:34:34 +0100},
        Journal = {Transactions on Automatic Control},
        Pages = {938-948},
        Title = {Reachability and Control synthesis for Piecewise-Affine Hybrid Systems on Simplices},
        Year = {2006}}

@techreport{Allborg2,
        Author = {J. Haukrogh and O. Binderup and S. Gislason},
        Date-Modified = {2010-12-15 10:34:56 +0100},
        Institution = {Aalborg University},
        Note = {\url{http://www.control.aau.dk/uav/reports/07gr1037b/07gr1037b_student_report.pdf}, last visited 29-10-2010},
        Title = {Platform development, Sensor modeling and Estimation of a Dragonfly X-pro},
        Year = {2007}}

@techreport{Allborg3,
        Author = {C. FinkPetersen and H. Hansen and S. Larsson},
        Date-Modified = {2010-12-15 10:31:07 +0100},
        Institution = {Aalborg University},
        Note = {\url{control.aau.dk/uav/reports/08gr833/08gr833_student_report.pdf}, last visited 29-10-2010},
        Title = {Autonomous Hovering with a Quadrotor Helicopter},
        Year = {2008},

@techreport{Allborg4,
        Author = {J. Friis and E. Nielsen and R. F. Andersen},
        Date-Modified = {2010-12-15 10:31:26 +0100},
        Institution = {Aalborg University},
        Note = {\url{http://projekter.aau.dk/projekter/files/17626121/report.pdf}, last visited 29-10-2010},
        Title = {Autonomous Landing on a Moving Platform},
        Year = {2009},
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