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Linearizing a 2-D quadrotor dynamic model

  1. Mar 28, 2017 #1
    Hi all!

    I am taking an online course on aerial robotics and am currently on the topic of linearizing a 2-D quadrotor dynamic model. See slide (link below):


    The equations under "linearized dynamics" are derived using the equilibrium hover configuration (e.g. y = y0, z = z0, Φ0 = 0, u1,0 = mg, u2,0 = 0) and the fact that at hover, sin(Φ) ~ Φ and cos(Φ) ~ 1.

    So, linearized

    y_ddot = (-u1/m)*sin(Φ) = (-mg/m)*Φ = -gΦ

    This makes sense to me. But how come z_ddot isn't 0? and Φ_ddot isn't 0? Shouldn't

    z_ddot = -g + (mg)/m*(1) = 0?
    Φ_ddot = (0)/I_xx = 0?

    Thank you!
  2. jcsd
  3. Apr 3, 2017 #2
    Thanks for the thread! This is an automated courtesy bump. Sorry you aren't generating responses at the moment. Do you have any further information, come to any new conclusions or is it possible to reword the post? The more details the better.
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