Generalized control allocation scheme for multirotor type of UAVs

Kotarski, Denis and Kasać, Josip (2018) Generalized control allocation scheme for multirotor type of UAVs. = Generalized control allocation scheme for multirotor type of UAVs. In: Drones - Applications. IntechOpen, London, pp. 43-58. ISBN 978-1-78923-285-1; 978-1-78923-284-4

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Unmanned aerial vehicles (UAVs) are autonomous or remotely guided aircraft, which can potentially carry out a wide range of tasks. Multirotor type of UAV has unique ability to perform vertical take-off and landing (VTOL), a stationary and low-speed flight where certain configurations can achieve very complex and precise movements. Therefore, they are suitable for performing tasks such as delivery of first aid kit, firefighting, infrastructure inspection, aerial video, and many others. In this chapter, a generalized control allocation scheme for a multirotor UAV is presented, which describes the mapping of rotor angular velocities to the control vector of the aircraft. It enables control and design of multirotor configurations with diverse geometrical arrangement and characteristics of the propulsion subsystem depending on the task, which multirotor has to carry out. The inverted scheme, which is implemented as a motor mixer, maps the control inputs into a set of aircraft actuator outputs.

Item Type: Book Section
Keywords (Croatian): multirotor UAV ; VTOL ; control allocation scheme ; propulsion subsystem ; motor mixer
Subjects: TECHNICAL SCIENCE > Mechanical Engineering
Divisions: 900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Indexed in Web of Science: No
Indexed in Current Contents: No
Date Deposited: 19 Sep 2018 10:15
Last Modified: 14 Dec 2018 13:26

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