A concept of a non-tilting multirotor-UAV based on moving mass control (CROSBI ID 657098)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Haus, Tomislav ; Orsag, Matko ; Bogdan, Stjepan
engleski
A concept of a non-tilting multirotor-UAV based on moving mass control
In this paper we present a concept of a multirotor unmanned aerial vehicle (UAV) capable of horizontally moving without tilting the vehicle body. The concept is based on the moving mass control, which we have recently proposed for roll and pitch control of a large multirotor UAV with internal combustion engines (ICEs). The vehicle is comprised of four ICEs with rotors tilted towards the body center and four moving masses, each placed in a motor arm. We give a complete 6 degrees of freedom (DOF) mathematical model in the form of nonlinear differential equations, which we linearize to obtain transfer functions. The models are used to design a control system comprised of state space controllers for roll/pitch stabilization and PID controllers for height, yaw and velocity control. The concept is verified in the Gazebo simulator and experimentally on a 2DOF laboratory gimbal.
Unmanned aerial vehicles, Rotors, Vehicle dynamics, Mathematical model
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Podaci o prilogu
1618-1624.
2017.
objavljeno
10.1109/ICUAS.2017.7991450
Podaci o matičnoj publikaciji
2017 International Conference on Unmanned Aircraft Systems (ICUAS 2017)
Institute of Electrical and Electronics Engineers (IEEE)
9781509044962
Podaci o skupu
2017 International Conference on Unmanned Aircraft Systems (ICUAS)
predavanje
13.06.2017-16.06.2017
Miami (FL), Sjedinjene Američke Države