In this paper, custom control system design and implementation for fully actuated multirotor unmanned aerial vehicle (UAV) are presented. For the purpose of control design, a mathematical model of the aircraft is shown. A fully actuated hexarotor configuration with passively tilted rotors has six independent control variables, therefore every degree of freedom can be directly controlled with six independent control variables. The feasibility of a control design is shown and tested with conventional control techniques, linear quadratic regulator (LQR), and cascaded position and orientation controllers. The performance of the considered controllers for a fully actuated multirotor configuration is illustrated by simulation examples and by experimental tests.


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    Titel :

    Fully Actuated Multirotor UAV Control Design and Implementation


    Beteiligte:
    Pranjic, Marko (Autor:in) / Pender, Antonia (Autor:in) / Piljek, Petar (Autor:in) / Kotarski, Denis (Autor:in)


    Erscheinungsdatum :

    20.07.2022


    Format / Umfang :

    637998 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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