Nonlinear State-Space Representations of a Quadrotor through Bond-Graph Technique


24th Chinese Control and Decision Conference (CCDC), Taiyuan, China, 23 - 25 May 2012, pp.620-627 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/ccdc.2012.6244095
  • City: Taiyuan
  • Country: China
  • Page Numbers: pp.620-627
  • Yıldız Technical University Affiliated: Yes


Obtaining efficient dynamic equations of complex systems, like processes or robotic systems, are very important for control system design. While various forms of acquiring motion equations exist, state-space form has its advantages for analyzing complex systems. Among analytical and graphical techniques of finding dynamic behavior of a system, bond-graph provides straight forward way of serving linear/nonlinear equations of systems in state-space form. In this study, a four-propeller-actuated full/reduced order quadrotor spatial dynamics are investigated by using bond-graph technique. Full order dynamic behavior is obtained including motor, gear, shaft, propellers and the body. Additionally, neglecting motor dynamics, reduced order state-space representations of the system is also provided, assuming force/moment input and propeller speed as inputs to the vehicle separately. Responses of the models are compared and discussed.