Preliminary study of dynamic modeling based on quaternion analysis for tricopter drone
DOI:
https://doi.org/10.58524/app.sci.def..v2i3.530Keywords:
Dynamics, Motion, Quaternion, Rotor, TricopterAbstract
Recently drone was used in many aspects, especially on military operation. Drone type three rotor, namely tricopter, was used for surveillance with stability motion needed too well operating. This study examines the dynamical aspects of a tricopter. A quaternion-based transformation method is developed to transition between reference coordinate systems. It forms a mathematical foundation for modeling tricopter dynamics. The quaternion formulation used as a mathematical tool to obtain equation of motion in translational and rotational. The result show that the derived equations provide a quaternion-based framework for modeling the tricopter's motion, enabling singularity-free transformations and accurate translational and rotational dynamics for real-time flight control and stability. These models form the basis for advanced navigation systems, offering precise trajectory planning and attitude control. Further research should focus on advanced control strategies, aerodynamic effects, and experimental validation to optimize tricopter’s performance.
References
Alaimo, A., Artale, V., Milazzo, C., & Ricciardello, A. (2013). Comparison between Euler and quaternion parametrization in UAV dynamics. 1228–1231. https://doi.org/10.1063/1.4825732
Bouabdallah, S., Murrieri, P., & Siegwart, R. (2004). Design and control of an indoor micro quadrotor. IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA ’04. 2004, 4393-4398 Vol.5. https://doi.org/10.1109/ROBOT.2004.1302409
Cefalo, M., & Mirats-Tur, J. M. (2011). A comprehensive dynamic model for class-1 tensegrity systems based on quaternions. International Journal of Solids and Structures, 48(5), 785–802. https://doi.org/10.1016/j.ijsolstr.2010.11.015
Chamola, V., Kotesh, P., Agarwal, A., Naren, Gupta, N., & Guizani, M. (2021). A Comprehensive Review of Unmanned Aerial Vehicle Attacks and Neutralization Techniques. Ad Hoc Networks, 111, 102324. https://doi.org/10.1016/j.adhoc.2020.102324
Chowdhury, S., Sharma, A., & Chauhan, A. S. (2021). A review on the analogy between a quadrotor and trirotor: Mathematical modeling and control design and its outcome. Materials Today: Proceedings, 47, 2896–2904. https://doi.org/10.1016/j.matpr.2021.04.190
Das, Mr. S. K., Gouda, D. K., & Dash, A. (2019). An Experimental Research on Design and Development of Tricopter. International Journal of Recent Technology and Engineering (IJRTE), 8(3), 5119–5130. https://doi.org/10.35940/ijrte.C5728.098319
Dronova, I., Kislik, C., Dinh, Z., & Kelly, M. (2021). A Review of Unoccupied Aerial Vehicle Use in Wetland Applications: Emerging Opportunities in Approach, Technology, and Data. Drones, 5(2), 45. https://doi.org/10.3390/drones5020045
Edulakanti, S. R., & Ganguly, S. (2023). Review article: The emerging drone technology and the advancement of the Indian drone business industry. The Journal of High Technology Management Research, 34(2), 100464. https://doi.org/10.1016/j.hitech.2023.100464
Falconi, R., & Melchiorri, C. (2012). Dynamic Model and Control of an Over-actuated Quadrotor UAV. IFAC Proceedings Volumes, 45(22), 192–197. https://doi.org/10.3182/20120905-3-HR-2030.00031
Ghanizadegan, K., & Hashim, H. A. (2025). Quaternion-Based Unscented Kalman Filter for 6-DoF Vision-Based Inertial Navigation in GPS-Denied Regions. IEEE Transactions on Instrumentation and Measurement, 74, 1–13. https://doi.org/10.1109/TIM.2024.3509582
Groÿekatthöfer, K., & Yoon, Z. (2012). Introduction into quaternions for spacecraft attitude representation. TU Berlin, 16, 785–802.
Hassanalian, M., & Abdelkefi, A. (2017). Classifications, applications, and design challenges of drones: A review. Progress in Aerospace Sciences, 91, 99–131. https://doi.org/10.1016/j.paerosci.2017.04.003
Iriarte, I., Gorostiza, J., Iglesias, I., Lasa, J., Calvo-Soraluze, H., & Sierra, B. (2024). An overactuated aerial robot based on cooperative quadrotors attached through passive universal joints: Modeling, control and 6-DoF trajectory tracking. Robotics and Autonomous Systems, 180, 104761. https://doi.org/10.1016/j.robot.2024.104761
Kaneko, S., & Martins, J. R. R. A. (2024). Simultaneous optimization of design and takeoff trajectory for an eVTOL aircraft. Aerospace Science and Technology, 155, 109617. https://doi.org/10.1016/j.ast.2024.109617
Kataoka, Y., Sekiguchi, K., & Sampei, M. (2011). Nonlinear Control and Model Analysis of Trirotor UAV Model. IFAC Proceedings Volumes, 44(1), 10391–10396. https://doi.org/10.3182/20110828-6-IT-1002.02694
Ligthart, J. A. J., Poksawat, P., Wang, L., & Nijmeijer, H. (2017). Experimentally Validated Model Predictive Controller for a Hexacopter. IFAC-PapersOnLine, 50(1), 4076–4081. https://doi.org/10.1016/j.ifacol.2017.08.791
Liu, Z., & Li, J. (2023). Application of Unmanned Aerial Vehicles in Precision Agriculture. Agriculture, 13(7), 1375. https://doi.org/10.3390/agriculture13071375
Manzoor, T., XIA, Y., ZHAI, D.-H., & MA, D. (2020). Trajectory tracking control of a VTOL unmanned aerial vehicle using offset-free tracking MPC. Chinese Journal of Aeronautics, 33(7), 2024–2042. https://doi.org/10.1016/j.cja.2020.03.003
Mohammadkarimi, H., Mozafari, S., & Alizadeh, M. H. (2024). Analytical quaternion-based bias estimation algorithm for fast and accurate stationary gyro-compassing. Scientific Reports, 14(1), 15792. https://doi.org/10.1038/s41598-024-66282-9
Nguyen, D. K., Putov, V. V., Kuznetsov, A. A., & Chernyshev, M. A. (2023). Adaptive-robust Control of a Tricopter-type Unmanned Aerial Vehicle with Rotary Propellers under Uncertain Conditions. 2023 XXVI International Conference on Soft Computing and Measurements (SCM), 53–56. https://doi.org/10.1109/SCM58628.2023.10159063
Paz, C., Suárez, E., Gil, C., & Vence, J. (2021). Assessment of the methodology for the CFD simulation of the flight of a quadcopter UAV. Journal of Wind Engineering and Industrial Aerodynamics, 218, 104776. https://doi.org/10.1016/j.jweia.2021.104776
Peksa, J., & Mamchur, D. (2024). A Review on the State of the Art in Copter Drones and Flight Control Systems. Sensors, 24(11), 3349. https://doi.org/10.3390/s24113349
PS, R., & Jeyan, M. L. (2020). Mini Unmanned Aerial Systems (UAV) - A Review of the Parameters for Classification of a Mini UAV. International Journal of Aviation, Aeronautics, and Aerospace. https://doi.org/10.15394/ijaaa.2020.1503
Qin, T., Zhang, G., Yang, L., & He, Y. (2023). Research on the Endurance Optimisation of Multirotor UAVs for High-Altitude Environments. Drones, 7(7), 469. https://doi.org/10.3390/drones7070469
Raj, N., Colombo, L. J., & Simha, A. (2021). Structure preserving reduced attitude control of gyroscopes. Automatica, 125, 109471. https://doi.org/10.1016/j.automatica.2020.109471
Rico-Martinez, J. M., & Gallardo-Alvarado, J. (2000). A Simple Method for the Determination of Angular Velocity and Acceleration of a Spherical Motion Through Quaternions. Meccanica, 35(2), 111–118. https://doi.org/10.1023/A:1004853828657
Sababha, B. H., Zu’, H. M. Al, bi, N. A., & Rawashdeh, O. A. (2015). A rotor-tilt-free tricopter UAV: design, modelling, and stability control. International Journal of Mechatronics and Automation, 5(2/3), 107. https://doi.org/10.1504/IJMA.2015.075956
Salahudden, S., Agrawal, H., Karnam, A., Roy, A., & Singh, A. (2024, July 29). Flight Dynamics and Control of Tricopter VTOL and Tilt Rotor Transition to Fixed Wing. AIAA Aviation Forum and Ascend 2024. https://doi.org/10.2514/6.2024-4513
Serrano, F., Castillo, O., Alassafi, M., Alsaadi, F., & Ahmad, A. (2023). Terminal sliding mode attitude-position quaternion-based control of quadrotor unmanned aerial vehicle. Advances in Space Research, 71(9), 3855–3867. https://doi.org/10.1016/j.asr.2023.02.030
Stengel, R. F. (2004). Flight Dynamics. Princeton University Press.
Stengel, R. F., & Berry, P. W. (1977). Stability and Control of Maneuvering High-Performance Aircraft. Journal of Aircraft, 14(8), 787–794. https://doi.org/10.2514/3.58854
Udeanu, G., Dobrescu, A., & Oltean, M. (2016). Unmanned aerial vehicle in military operations. Scientific Research and Education In The Air Force, 18(1), 199–206. https://doi.org/10.19062/2247-3173.2016.18.1.26
Yang Yang, 杨阳, Cui Jin-feng, 崔金峰, & Yu Yi, 余毅. (2013). Dynamical analysis and mathematical modeling of tricopter. Optics and Precision Engineering, 21(7), 1873–1880. https://doi.org/10.3788/OPE.20132107.1873
Downloads
Published
Issue
Section
License
Copyright (c) 2024 Agya Sewara Alam, Adhi Kusumadjati, Aditya Tri Oktaviana
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
