Abstract—In this work a dynamic model of a new quadrotor aerial vehicle that is equipped with a tilt-wing mechanism is presented. The vehicle has the capabilities of vertical take-off/landing (VTOL) like a helicopter and flying horizontal like an airplane. Dynamic model of the vehicle is derived both for vertical and horizontal flight modes using Newton-Euler formulation. An LQR controller for ...

there are many occasions where the base of a robotic manipulator is attached to a moving platform, such as on a moving ship, terrain or space shuttle. in this paper a dynamic model of a robotic manipulator mounted on a moving base is derived using both newton-euler and lagrange-euler methods. the presented models are simulated for a mitsubishi pa10-6ce robotic manipulator characteristics mounte...

The purpose of this paper is to present the basic mathematical modeling of microcopters, which could be used to develop proper methods for stabilization and trajectory control. The microcopter taken into account consists of six rotors, with three pairs of counter-rotating fixedpitch blades. The microcopter is controlled by adjusting the angular velocities of the rotors which are spun by electri...

Quadrotor control has been noted for its trouble as the consequence of the high maneuverability, system nonlinearity and strongly coupled multivariable. This paper deals with the simulation depend on proposed controller of a quadrotor that can overcome this trouble. The mathematical model of quadrotor is determined using a Newton-Euler formulation. Fractional Order Proportional Integral Derivat...

We develop certified tracking procedures for Newton homotopies, which are homotopies for which only the constant terms are changed. For these homotopies, our certified procedures include using a constant predictor with Newton corrections, an Euler predictor with no corrections, and an Euler predictor with Newton corrections. In each case, the predictor is guaranteed to produce a point in the qu...

Manual derivation of the dynamic model of a modular robot is almost impossible because it may have very different geometries and DOFS through module reconfiguration. This paper presents an algorithm to automatically generate the closed-form equation of motion of a modular robot from a kinematic graph based representation of the assembly configuration. We consider modular robots with the more ge...

A blimp is a small airship that has no metal framework and collapses when deflated. In the first part of this paper, dynamic modeling of small autonomous non rigid airships is presented, using the Newton-Euler approach. This study discusses the motion in 6 degrees of freedom since 6 independent coordinates are necessary to determine the position and orientation of this vehicle. Euler angles are...

It is well-known that stationary transonic solutions of the compressible Euler equations are hard to compute using the stationary form of the equations. Therefore, time marching methods with explicit or implicit time integration are normally employed. In this paper a method is described that computes one-dimensional transonic flows directly from the stationary equations. The method is based on ...

This paper presents a recursive formulation for the inverse dynamics of a generic twoDegree of Freedom planar parallel manipulator with prismatic actuators, which find applications in positioning, contouring, etc. with high accuracy and precision. The method is based on the Newton-Euler equations of motion and the Decoupled Natural Orthogonal Complement matrices, which relate the angular and li...

A least-squares mixed nite element formulation is applied to the nonlinear elliptic problems arising in each time-step of an implicit Euler discretization for variably saturated ow problems. This approach simultaneously constructs approximations to the ux in Raviart-Thomas spaces and to the hydraulic potential by standard H 1-conforming linear nite elements. Two important properties of the leas...