ICRA 2011 Paper Abstract


Paper WeA201.4

Orsag, Matko (University of Zagreb), Bogdan, Stjepan (University of Zagreb), Haus, Tomislav (University of Zagreb), Bunic, Marko (University of Zagreb), Krnjak, Antonio (University of Zagreb)

Modeling, Simulation and Control of a Spincopter

Scheduled for presentation during the Regular Sessions "Aerial Robotics IV" (WeA201), Wednesday, May 11, 2011, 10:50−11:05, Room 3B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Aerial Robotics, Visual Tracking, Animation and Simulation


In this article we present mathematical model of spincopter – an inherently stable and easy to control unmanned aerial vehicle (UAV). Although devised model represents only first approximation of spincopter’s physics, it captures basic phenomena that are sufficient for derivation and testing of simple control algorithm. Results obtained by simulations in Simulink®, presented herein, demonstrate efficient performance of the proposed simple controller structure. Further tests, including investigation of complex aerodynamics effects and hardware-specified limitations, have been done by using X-Plane® software package. Finally, the proposed controller has been tested experimentally. Both, X-Plane® and experimental results confirmed outcome from Simulink®.



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