Naslov
Design considerations for a large quadrotor with moving mass control

Autori
Haus, Tomislav ; Orsag, Matko ; Bogdan, Stjepan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
2016 International Conference on Unmanned Aircraft Systems (ICUAS) / - : Institute of Electrical and Electronics Engineers (IEEE), 2016, 1327-1334

Skup
2016 International Conference on Unmanned Aircraft Systems (ICUAS)

Mjesto i datum
Arlington (TX), Sjedinjene Američke Države, 07.06.2016. - 10.06.2016

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Rotors; Vehicles; Vehicle dynamics; Robots; Attitude control; Engines; DC motors

Sažetak
In this paper we present our ongoing efforts to build a heavy lift multirotor platform capable of lifting over 50kg of payload. Such a system requires a paradigm shift in the design of the UAV. Therefore we propose using miniature two stroke internal combustion engines to supply the necessary lift and endurance and combine them with a novel control concept based on the variations of the center of gravity (CoG) of the system. In this paper we present a detailed stability and sensitivity analysis of the proposed control scheme and discuss its underlining effect on the construction design parametrization. We present simulation results from a Gazebo based simulator that confirm the results of our mathematical analysis.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA