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AIAA 2003-5520
1.
u(1) u(2) u(3) u(4) FxB ,FyB ,FzB Fx ,Fy ,Fz Ix ,Iy ,Iz p,q,r ,, uB ,vB ,wB u,v,w x,y,z
Nomenclature
u(1) = F1 + F2 + F3 + F4 , N u(2) = F4 F2 , N u(3) = F3 F1 , N u(4) = F1 F2 + F3 F4 , N Force in body-axis x,y,z direction, N Force in earth-axis x,y,z direction, N Moment of inertia in x,y,z direction Roll rate,pitch rate,yaw rate, rad/s Roll angle,pitch angle,yaw angle, rad Velocity in body-axis x,y,z direction, m/s Velocity in earth-axis x,y,z direction, m/s COG in earth-axis x,y,z direction, m
2.
Introduction
UAVs, or Unmanned Aerial Vehicles, are dened as aircrafts without the onboard presence of pilots [13]. UAVs have been used to perform intelligence, surveillance, and reconnaissance missions. The technological promise of UAVs is to serve across the full range of missions. UAVs have several basic advantages over manned systems including increased maneuverability, reduced cost, reduced radar signatures, longer endurance, and less risk to crews. Vertical take-o and landing type UAVs exhibit even further maneuverability features. Such vehicles are to require little human intervention from take-o to landing. Aordability is the key word when building and controlling a UAV. A commercial quad rotor helicopter, Draganyer
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Copyright 2003 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.