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

Kotarski, Denis and Piljek, Petar and Brezak, Hrvoje and Kasać, Josip (2017) Design of a fully actuated passively tilted multirotor UAV with decoupling control system. = Design of a fully actuated passively tilted multirotor UAV with decoupling control system. In: 8th International Conference on Mechanical and Aerospace Engineering, ICMAE 2017, 22-25.07.2017., Prag, Češka.

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Official URL: http://ieeexplore.ieee.org/document/8038677/

Abstract

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.

Item Type: Conference or Workshop Item (Lecture)
Keywords (Croatian): multirotor UAV; CAS; non-flat design; decoupling tracking control
Subjects: NATURAL SCIENCES > Physics
Divisions: 1200 Department of Technology > 1220 Chair of Metal Forming
900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Indexed in Web of Science: Yes
Indexed in Current Contents: No
Citations JCR: 0 (19.09.2018.)
Date Deposited: 19 Sep 2018 11:44
Last Modified: 19 Sep 2018 11:47
URI: http://repozitorij.fsb.hr/id/eprint/8745

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