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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    Title :

    Fully Actuated Multirotor UAV Control Design and Implementation


    Contributors:


    Publication date :

    2022-07-20


    Size :

    637998 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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