The study addresses the limitations of traditional quadrotors in achieving omnidirectional movement, which restricts their agility and adaptability in dynamic environments. This research introduces the Omnidirectional Stationary Flying Outstretched Drone, utilizing quaternions for orientation representation to avoid issues such as singularities and gimbal lock. The methodology involves developing a dynamic model that incorporates aerodynamic effects and implementing linear controllers, including PID and PI controllers, for precise altitude and attitude control. Simulation results show that the drone achieved a settling time of 5 seconds and an overshot of less than 5% in altitude control. Experimental validations confirm enhanced maneuverability and stability compared to conventional quadrotors. ???


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Integrated Control System Design for a Quaternion-Based Omnidirectional Quadrotor Drone


    Beteiligte:


    Erscheinungsdatum :

    13.08.2024


    Format / Umfang :

    325940 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Quadrotor quaternion control

    Carino, J. / Abaunza, H. / Castillo, P. | IEEE | 2015


    Quadrotor dual quaternion control

    Abaunza, H. / Carino, J. / Castillo, P. et al. | IEEE | 2015


    Quaternion guidance and control of quadrotor

    Andersen, Tom Stian / Kristiansen, Raymond | IEEE | 2017


    DRONE QUADROTOR

    BUSBY JR JAMES S / BUSBY III JAMES S / BUSBY TIMOTHY R | Europäisches Patentamt | 2018

    Freier Zugriff