Unmanned aerial vehicles (UAV) can potentially carry out a wide range of tasks and operate in hazardous conditions. Some tasks require complex and precise aircraft movements in the presence of external disturbances. In this paper, a design of non-flat multirotor configuration (NFH6) is presented. Through dynamic model, it is shown that flat multirotor configurations share inherent underactuated condition. By adequate change of the tilt angle around rotor arm, control allocation scheme (CAS) matrix reaches rank 6 which means that multirotor is able to achieve full controllability. Decoupling control system design, based on sliding mode control laws, is presented. Simulation results show satisfying tracking performance of the proposed control system design for a presented NFH6 platform.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Design of a fully actuated passively tilted multirotor UAV with decoupling control system


    Beteiligte:
    Kotarski, Denis (Autor:in) / Piljek, Petar (Autor:in) / Brezak, Hrvoje (Autor:in) / Kasac, Josip (Autor:in)


    Erscheinungsdatum :

    2017-07-01


    Format / Umfang :

    898412 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Chattering-Free Tracking Control of a Fully Actuated Multirotor with Passively Tilted Rotors

    Kotarski, Denis / Piljek, Petar / Brezak, Hrvoje et al. | BASE | 2018

    Freier Zugriff

    Passively actuated braking system

    LALIBERTE THIERRY / GOSSELIN CLEMENT / GAO DALONG et al. | Europäisches Patentamt | 2015

    Freier Zugriff

    PASSIVELY ACTUATED SENSOR SYSTEM

    THOMPSON BRUCE / SEAL JACOB / RICHTER ELIJAH et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    PASSIVELY ACTUATED GRAPPLING HOOK

    PAGANO CHRISTOPHER / KOPMAN VLADISLAV | Europäisches Patentamt | 2016

    Freier Zugriff

    PASSIVELY ACTUATED FLUID FOIL

    ORCHARD MATTHEW | Europäisches Patentamt | 2023

    Freier Zugriff