This paper deals with the modelling, simulation-based controller design and path planning of a four rotor helicopter known as a quadrotor. All the drags, aerodynamic, coriolis and gyroscopic effect are neglected. A Newton-Euler formulation is used to derive the mathematical model. A smart self-tuning fuzzy PID controller based on an EKF algorithm is proposed for the attitude and position contro...

We present our ongoing work on the development of a new quadrotor aerial vehicle which has a tilt-wing mechanism. The vehicle is capable of take-off/landing in vertical flight mode (VTOL) and flying over long distances in horizontal flight mode. Full dynamic model of the vehicle is derived using Newton-Euler formulation. Linear and nonlinear controllers for the stabilization of attitude of the ...

The mathematical model of an industrial robot is usually described in the form of Lagrange-Euler equations, Newton-Euler equations or generalized d’Alambert equations. However, these equations require the physical parameters of a robot that are difficult to obtain. In this paper, two methods for calculation of a Lagrange-Euler model of robot using neural networks are presented and compared. The...

This paper presents two approaches to obtain the dynamical equations of mobile manipulators using dual quaternion algebra. The first one is based on a general recursive Newton-Euler formulation and uses twists wrenches, which are propagated through high-level algebraic operations works for any type joints arbitrary parameterizations. second approach Gauss's Principle Least Constraint (GPLC) inc...

Abstract. The mathematical model of industrial robot is well known for example in the form of Lagrange-Euler equations, Newton-Euler equations or generalized d’Alambert equations. However, these equations require the physical parameters of robot like masses, inertia momentums, etc. that are very hard to measure. In the paper, the method for calculation of Lagrange-Euler robot model using neural...

Abstract: This paper presents a full analysis of the dynamic behavior of a sixdegree-offreedom Stewart mechanism. In existing dynamic models of this mechanism, derived using either the Lagrange formulation or the Newton-Euler method, the masses of the supporting legs often have been ignored and, their inertia, invariably, assumed negligible. The modeling scheme developed in this paper is based ...

In this paper, we propose an inverse optimal design method for the position control of a quadrotor. First, we derive the dynamics of a quadrotor using the Newton-Euler formulation. Second, we present the state transformation technique to derive the position dynamics from the kinematic and dynamic models of a quadrotor. Then, we present the nonlinear inverse optimal position control of a quadrot...

Although it is known that correct dynamical equations of motion for a nonholonomic system cannot be obtained from a Lagrangean that has been augmented with a sum of the nonholonomic constraint equations weighted with multipliers, previous publications suggest otherwise. An example has been proposed in support of augmentation and purportedly demonstrates that an accepted method fails to produce ...

We show that the maximum likelihood degree of a smooth very affine variety is equal to the signed topological Euler characteristic. This generalizes Orlik and Terao’s solution to Varchenko’s conjecture on complements of hyperplane arrangements to smooth very affine varieties. For very affine varieties satisfying a genericity condition at infinity, the result is further strengthened to relate th...

. Consider a mechanical system consisting of N particles in R subject to some forces. Let xi ∈ R denote the position vector of the ith particle. Then all possible positions of the system are described by N -tuples (x1, . . . , xN ) ∈ (R) . The space (R) is an example of a configuration space. The time evolution of the system is described by a curve (x1(t), . . . , xN (t)) in (R) and is governed...