Design and simulation of a holonomic quadrotor UAV with sub-rotor control surfaces


2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012, Guangzhou, China, 11 - 14 December 2012, pp.1164-1169 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1109/robio.2012.6491127
  • City: Guangzhou
  • Country: China
  • Page Numbers: pp.1164-1169


In this work, a quadrotor helicopter UAV with sub-rotor control surfaces for non-inclined horizontal motion is designed. Dynamic model of the air vehicle is developed including the control surface driven drag and pushing forces, and the relevant moments. An eight output PID control system is designed for controlling both the rotor speeds and control surface angles. The performance of this control system on the air vehicle is presented through simulation results with severe wind conditions. © 2012 IEEE.