Dynamic Modeling and Control Techniques for Multi-Rotor Flying Robots

멀티로터 무인비행로봇 동역학적 모델링 및 제어기법 연구

  • Kim, Hyeon (School of Mechanical & Automotive Engineering, Kunsan Nat'l Univ.) ;
  • Jeong, Heon Sul (School of Mechanical & Automotive Engineering, Kunsan Nat'l Univ.) ;
  • Chong, Kil To (School of Electronics Engineering, Chonbuk Nat'l Univ.) ;
  • Lee, Deok Jin (School of Mechanical & Automotive Engineering, Kunsan Nat'l Univ.)
  • 김현 (군산대학교 기계자동차공학부) ;
  • 정헌술 (군산대학교 기계자동차공학부) ;
  • 정길도 (전북대학교 전자공학부) ;
  • 이덕진 (군산대학교 기계자동차공학부)
  • Received : 2013.09.04
  • Accepted : 2013.11.19
  • Published : 2014.02.01


A multi-rotor is an autonomous flying robot with multiple rotors. Depending on the number of the rotors, multi-rotors are categorized as tri-, quad-, hexa-, and octo-rotor. Given their rapid maneuverability and vertical take-off and landing capabilities, multi-rotors can be used in various applications such as surveillance and reconnaissance in hostile urban areas surrounded by high-rise buildings. In this paper, the unified dynamic model of each tri-, quad-, hexa-, and octo-rotor are presented. Then, based on derived mathematical equations, the operation and control techniques of each multi-rotor are derived and analyzed. For verifying and validating the proposed models, operation and control technique simulations are carried out.


Unmanned Aerial Vehicle;Multi-Rotor Robot;Vertical Take Off and Landing;Dynamic Modeling;Flight Control Techniques


Supported by : 한국 연구재단


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