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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 routing...

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Main Authors: Abdul Azis, Fadilah, Mohd Aras, Mohd Shahrieel, Abas, Norafizah, Mohamad Hanif, Noor Hazrin Hany
Format: Article
Language:English
Published: Penerbit UTM Press 2022
Online Access:http://eprints.utem.edu.my/id/eprint/26577/2/PAPER%201%20AEJ%202022%20PUBLISHED%20N%20SIGNED.PDF
http://eprints.utem.edu.my/id/eprint/26577/
https://journals.utm.my/aej/article/view/17188
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spelling my.utem.eprints.265772023-03-07T08:02:05Z http://eprints.utem.edu.my/id/eprint/26577/ Mathematical modeling with parameter identification for hexarotor system: a Hamiltonian approach Abdul Azis, Fadilah Mohd Aras, Mohd Shahrieel Abas, Norafizah Mohamad Hanif, Noor Hazrin Hany 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 text en http://eprints.utem.edu.my/id/eprint/26577/2/PAPER%201%20AEJ%202022%20PUBLISHED%20N%20SIGNED.PDF Abdul Azis, Fadilah and Mohd Aras, Mohd Shahrieel and Abas, Norafizah and Mohamad Hanif, Noor Hazrin Hany (2022) Mathematical modeling with parameter identification for hexarotor system: a Hamiltonian approach. ASEAN Engineering Journal, 12 (2). pp. 143-149. ISSN 2586-9159 https://journals.utm.my/aej/article/view/17188 10.11113/aej.v12.17188
institution Universiti Teknikal Malaysia Melaka
building UTEM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknikal Malaysia Melaka
content_source UTEM Institutional Repository
url_provider http://eprints.utem.edu.my/
language English
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
Mohd Aras, Mohd Shahrieel
Abas, Norafizah
Mohamad Hanif, Noor Hazrin Hany
spellingShingle Abdul Azis, Fadilah
Mohd Aras, Mohd Shahrieel
Abas, Norafizah
Mohamad Hanif, Noor Hazrin Hany
Mathematical modeling with parameter identification for hexarotor system: a Hamiltonian approach
author_facet Abdul Azis, Fadilah
Mohd Aras, Mohd Shahrieel
Abas, Norafizah
Mohamad Hanif, Noor Hazrin Hany
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://eprints.utem.edu.my/id/eprint/26577/2/PAPER%201%20AEJ%202022%20PUBLISHED%20N%20SIGNED.PDF
http://eprints.utem.edu.my/id/eprint/26577/
https://journals.utm.my/aej/article/view/17188
_version_ 1759693077685993472
score 13.211869

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