Comparacion de dos modelos dinamicos de cuadrotor (Comparison of two quadrotor dynamic models)

José de Jesús Rubio (jrubioa@ipn.mx), J. Humberto Pérez Cruz (phhhantom2001@yahoo.com.mx), Zizilia Zamudio (zizzable@gmail.com), Annel J. Salinas (ing.annelsalinas@gmail.com)


Sección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional
This paper appears in: Revista IEEE América Latina

Publication Date: June 2014
Volume: 12,   Issue: 4 
ISSN: 1548-0992


Abstract:
In this paper, two dynamic models of a quadrotor are presented, where the traslational dynamic is obtained using the Euler-Lagrange method, and the rotational dynamic is obtained using the Newton-Euler method. The difference between both models is due to the sense in which the rotational matrices are used. A simulation shows the effectiveness of the presented methods.

Index Terms:
Quadrotor, dynamic model, simulation, analytic model   


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