Abstract
In this chapter, the dynamics of the flying robot, represented by the System subblock, are modeled. The System consists of a rigid body, with the aerodynamics wrench \(\boldsymbol{\tau }_{\!d}\), interaction wrench \(\boldsymbol{\tau }_{\!i}\) and propulsion wrench \(\boldsymbol{\tau }\) acting on it through the external wrench \(\boldsymbol{\tau }_{\!e}\). Rigid body dynamics is presented in Sect. 2.1.1, while the propulsion wrench is described in Sect. 2.1.2, along with relevant propeller aerodynamics in Sect. 2.1.3. The propulsion wrench and motor dynamics, modeled in Sect. 2.1.5, are connected through the propeller speed \(\boldsymbol{\varpi }\). Lastly, the external wrench \(\boldsymbol{\tau }_{\!e}\) is estimated as discussed in Sect. 2.3.
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Notes
- 1.
Further experiments would be needed to correct for this. Unfortunately, this was not possible at the time of writing, as the author lost access to the system used in the experiments.
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Tomić, T. (2023). Modeling. In: Model-Based Control of Flying Robots for Robust Interaction Under Wind Influence. Springer Tracts in Advanced Robotics, vol 151. Springer, Cham. https://doi.org/10.1007/978-3-031-15393-8_2
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