Generic nonlinear model of reduced scale UAVs

— This paper proposes, through a survey of models of several UAV-Structures, a generic nonlinear model for reduced scale aerial robotic vehicles (6 DOF)1 . Dynamics of an aircraft and some VTOL UAV (quadricopter, ducted fan and classical helicopter) are illustrated. This generic model focuses only on the key physical efforts acting on the dynamics in order to be sufficiently simple to design a controller. The Small Body Forces expression which can introduce a zero dynamics is then discussed.

• Type: Conference
• Year: 2009
• Where: ICRA
• Authors: Thibault Cheviron, Abdelhamid Chriette, Franck Plestan
• Keywords: Aerial Robotic Vehicles, Generic Nonlinear Model, ICRA 2009, Robotics, VTOL UAV