Pregled bibliografske jedinice broj: 1280808
Fully Actuated Multirotor UAV Control Design and Implementation
Fully Actuated Multirotor UAV Control Design and Implementation // 2022 International Conference on Electrical, Computer and Energy Technologies (ICECET)
Prag, Češka Republika, 2022. str. 1-6 doi:10.1109/ICECET55527.2022.9872892 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 1280808 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Fully Actuated Multirotor UAV Control Design and
Implementation
Autori
Pranjic, Marko ; Pender, Antonia ; Piljek, Petar ; Kotarski, Denis
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
2022 International Conference on Electrical, Computer and Energy Technologies (ICECET)
/ - , 2022, 1-6
ISBN
978-1-6654-7087-2
Skup
International Conference on Electrical, Computer and Energy Technologies (ICECET 2022)
Mjesto i datum
Prag, Češka Republika, 20.07.2022. - 22.07.2022
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
multirotor UAV ; fully actuated configuration ; LQR ; cascaded control
Sažetak
In this paper, custom control system design and implementation for fully actuated multirotor unmanned aerial vehicle (UAV) are presented. For the purpose of control design, a mathematical model of the aircraft is shown. A fully actuated hexarotor configuration with passively tilted rotors has six independent control variables, therefore every degree of freedom can be directly controlled with six independent control variables. The feasibility of a control design is shown and tested with conventional control techniques, linear quadratic regulator (LQR), and cascaded position and orientation controllers. The performance of the considered controllers for a fully actuated multirotor configuration is illustrated by simulation examples and by experimental tests.
Izvorni jezik
Engleski
Znanstvena područja
Strojarstvo, Temeljne tehničke znanosti
POVEZANOST RADA
Projekti:
--KK.01.1.1.04.0092 - Istraživanje i razvoj specijaliziranih multirotornih bespilotnih letjelica (Piljek, Petar; Kotarski, Denis; Belobaba, Sanja) ( CroRIS)
Ustanove:
Fakultet strojarstva i brodogradnje, Zagreb,
Tehničko veleučilište u Zagrebu,
Veleučilište u Karlovcu
