Impact of propellers inertia and asymmetries on a V-shaped quadrotor

Abstract : This paper emphasizes several dynamical aspects of a quadrotor induced by propellers inertia, especially when its rotors are tilted or asymmetrically distributed around its body. To achieve this, a simplified, linear model is established for a generic quadrotor and successively applied in three cases: a flat and symmetric quadrotor, a V-shaped quadrotor and finally an asymmetric quadrotor. The results are illustrated via numerical simulations.
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https://hal.archives-ouvertes.fr/hal-01562854
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Gauthier Rousseau, Cristina Stoica Maniu, Sihem Tebbani, Mathieu Babel. Impact of propellers inertia and asymmetries on a V-shaped quadrotor. Preprints of the 20th World Congress of the International Federation of Automatic Control, Jul 2017, Toulouse, France. pp.10686-10690. ⟨hal-01562854⟩

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