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Mathematical modeling with parameter identification for hexarotor system; a Hamiltonian approach

This paper presents a mathematical modeling with parameters identification of Unmanned Aerial Vehicle (UAV) system or hexarotor system using the Hamiltonian approach. The mathematical model of the hexarotor is derived from the Hamiltonian approach which involved the storage, dissipation, and routin...

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Main Authors: Abdul Azis, Fadilah, Mohamad Hanif, Noor Hazrin Hany, Mohd Aras, Mohd Shahrieel, Abas, Norafizah
Format: Article
Language:English
Published: Penerbit UTM Press 2022
Subjects:
TJ212 Control engineering
Online Access:http://irep.iium.edu.my/101214/7/101214_Mathematical%20modeling%20with%20parameter%20identification.pdf
http://irep.iium.edu.my/101214/
https://journals.utm.my/aej/article/view/17188/7918
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spelling my.iium.irep.1012142022-11-16T08:33:23Z http://irep.iium.edu.my/101214/ Mathematical modeling with parameter identification for hexarotor system; a Hamiltonian approach Abdul Azis, Fadilah Mohamad Hanif, Noor Hazrin Hany Mohd Aras, Mohd Shahrieel Abas, Norafizah TJ212 Control engineering This paper presents a mathematical modeling with parameters identification of Unmanned Aerial Vehicle (UAV) system or hexarotor system using the Hamiltonian approach. The mathematical model of the hexarotor is derived from the Hamiltonian approach which involved the storage, dissipation, and routing of energy elements from the UAV. This UAV model parameters identification method is proposed as an alternative to the commonly used wind tunnel testing, which is complex and tedious. This Hamiltonian model is made of a fully actuated subsystem with roll, pitch, and yaw angles as output, as well as an under-actuated subsystem with position coordinates as its output. Thrust constant, drag constant and speed of hexarotor are determined through the experimental setup while moment of inertia is determined by physical measurement and calculation. The outcome from this research works demonstrates an undemanding, yet effective method of modeling an UAV, and is useful for designing nonlinear controller to perform the important UAV tasks such as taking off, hovering, and landing. Penerbit UTM Press 2022-06-01 Article PeerReviewed application/pdf en http://irep.iium.edu.my/101214/7/101214_Mathematical%20modeling%20with%20parameter%20identification.pdf Abdul Azis, Fadilah and Mohamad Hanif, Noor Hazrin Hany and Mohd Aras, Mohd Shahrieel and Abas, Norafizah (2022) Mathematical modeling with parameter identification for hexarotor system; a Hamiltonian approach. ASEAN Engineering Journal, 12 (2). pp. 143-149. E-ISSN 2586–9159 https://journals.utm.my/aej/article/view/17188/7918 10.11113/aej.v12.17188
institution Universiti Islam Antarabangsa Malaysia
building IIUM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider International Islamic University Malaysia
content_source IIUM Repository (IREP)
url_provider http://irep.iium.edu.my/
language English
topic TJ212 Control engineering
spellingShingle TJ212 Control engineering
Abdul Azis, Fadilah
Mohamad Hanif, Noor Hazrin Hany
Mohd Aras, Mohd Shahrieel
Abas, Norafizah
Mathematical modeling with parameter identification for hexarotor system; a Hamiltonian approach
description This paper presents a mathematical modeling with parameters identification of Unmanned Aerial Vehicle (UAV) system or hexarotor system using the Hamiltonian approach. The mathematical model of the hexarotor is derived from the Hamiltonian approach which involved the storage, dissipation, and routing of energy elements from the UAV. This UAV model parameters identification method is proposed as an alternative to the commonly used wind tunnel testing, which is complex and tedious. This Hamiltonian model is made of a fully actuated subsystem with roll, pitch, and yaw angles as output, as well as an under-actuated subsystem with position coordinates as its output. Thrust constant, drag constant and speed of hexarotor are determined through the experimental setup while moment of inertia is determined by physical measurement and calculation. The outcome from this research works demonstrates an undemanding, yet effective method of modeling an UAV, and is useful for designing nonlinear controller to perform the important UAV tasks such as taking off, hovering, and landing.
format Article
author Abdul Azis, Fadilah
Mohamad Hanif, Noor Hazrin Hany
Mohd Aras, Mohd Shahrieel
Abas, Norafizah
author_facet Abdul Azis, Fadilah
Mohamad Hanif, Noor Hazrin Hany
Mohd Aras, Mohd Shahrieel
Abas, Norafizah
author_sort Abdul Azis, Fadilah
title Mathematical modeling with parameter identification for hexarotor system; a Hamiltonian approach
title_short Mathematical modeling with parameter identification for hexarotor system; a Hamiltonian approach
title_full Mathematical modeling with parameter identification for hexarotor system; a Hamiltonian approach
title_fullStr Mathematical modeling with parameter identification for hexarotor system; a Hamiltonian approach
title_full_unstemmed Mathematical modeling with parameter identification for hexarotor system; a Hamiltonian approach
title_sort mathematical modeling with parameter identification for hexarotor system; a hamiltonian approach
publisher Penerbit UTM Press
publishDate 2022
url http://irep.iium.edu.my/101214/7/101214_Mathematical%20modeling%20with%20parameter%20identification.pdf
http://irep.iium.edu.my/101214/
https://journals.utm.my/aej/article/view/17188/7918
_version_ 1751535917998276608
score 13.211869

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