A novel concept of attitude control for large multirotor-UAVs based on moving mass control (CROSBI ID 638694)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Haus, Tomislav ; Prkut, Nikola ; Borovina, Katarina ; Marić, Bruno ; Orsag, Matko ; Bogdan, Stjepan
engleski
A novel concept of attitude control for large multirotor-UAVs based on moving mass control
In this work we aim to explore the concept of using the shift in the center of gravity, which in turn produces roll and pitch moments, to control the attitude of the quadrotor. We propose constructing a UAV with moving masses within each rotor arm. In this paper we show the mathematical equations describing the dynamics of the proposed system, propose a classical PID based control approach and analyze and confirm its stability. Furthermore, we analyze the effectiveness of the proposed controller in a Gazebo based simulation environment. Finally, we build a laboratory testbed that emulates the dynamics of the system and test our proposed control strategy.
Mathematical model; Unmanned aerial vehicles; Gravity; Attitude control; Robots
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
Podaci o prilogu
832-839.
2016.
objavljeno
Podaci o matičnoj publikaciji
2016 24th Mediterranean Conference on Control and Automation (MED)
Institute of Electrical and Electronics Engineers (IEEE)
Podaci o skupu
2016 24th Mediterranean Conference on Control and Automation (MED)
predavanje
21.06.2016-24.06.2016
Atena, Grčka