engleski

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

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.

control allocation scheme ; tilt angle ; fully actuated multirotor ; robust tracking control ; RISE control

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