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All Journal International Journal of Applied Mathematics, Sciences, and Technology for National Defense
Alam, Agya Sewara
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Biochemistry, Genetics & Molecular Biology Chemistry Computer Science & IT Mathematics Physics

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Preliminary study of dynamic modeling based on quaternion analysis for tricopter drone Alam, Agya Sewara; Kusumadjati, Adhi; Oktaviana, Aditya Tri
International Journal of Applied Mathematics, Sciences, and Technology for National Defense Vol 2, No 3 (2024): International Journal of Applied Mathematics, Sciences, and Technology for Natio
Publisher : FoundAE

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.58524/app.sci.def..v2i3.530

Abstract

Recently drone was used in many aspects, especially on military operation. Drone type three rotor, namely tricopter, was used for surveillance with stability motion needed too well operating. This study examines the dynamical aspects of a tricopter. A quaternion-based transformation method is developed to transition between reference coordinate systems. It forms a mathematical foundation for modeling tricopter dynamics. The quaternion formulation used as a mathematical tool to obtain equation of motion in translational and rotational. The result show that the derived equations provide a quaternion-based framework for modeling the tricopter's motion, enabling singularity-free transformations and accurate translational and rotational dynamics for real-time flight control and stability. These models form the basis for advanced navigation systems, offering precise trajectory planning and attitude control. Further research should focus on advanced control strategies, aerodynamic effects, and experimental validation to optimize tricopter’s performance.
Co-Authors Kusumadjati, Adhi Oktaviana, Aditya Tri