Chattering free tracking control of a fully actuated multirotor with passively tilted rotors

Kotarski, Denis and Piljek, Petar and Brezak, Hrvoje and Kasać, Josip (2018) Chattering free tracking control of a fully actuated multirotor with passively tilted rotors. = Chattering free tracking control of a fully actuated multirotor with passively tilted rotors. Transactions of FAMENA, 42 (1). pp. 1-14. ISSN 1333-1124. Vrsta rada: ["eprint_fieldopt_article_type_article" not defined]. Kvartili JCR: Q4 (2017). Točan broj autora: 4.

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Official URL: https://doi.org/10.21278/TOF.42101

Abstract

In this paper, a control allocation scheme is presented for a multirotor type of Unmanned Aerial Vehicle (UAV). It depends on a multirotor configuration and rotor system parameters. Control allocation scheme enable analysis of dynamics for different multirotor designs depending on the purpose and the task which multirotor have to carry out. Analysis of force and moment distribution in space shows that non-flat design with passively tilted rotors can overcome an inherent underactuated condition of flat multirotor configurations. By increasing the tilt angle, multirotor is able to achieve full controllability over its six degrees of freedom (6 DOF). A robust chattering free sliding mode asymptotic tracking control design for a fully actuated multirotor is presented. Simulation results show satisfying tracking performance of the proposed controller.

Item Type: Article (["eprint_fieldopt_article_type_article" not defined])
Keywords (Croatian): control allocation scheme, tilt angle, fully actuated multirotor, robust tracking control, RISE control
Subjects: NATURAL SCIENCES > Mathematics
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.)
Quartiles: Q4 (2017)
Date Deposited: 19 Sep 2018 10:54
Last Modified: 14 Dec 2018 13:28
URI: http://repozitorij.fsb.hr/id/eprint/8744

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