Naslov
Design of a fully actuated passively tilted multirotor UAV with decoupling control system
(Design of a fully actuated passively tilted multirotor UAV with decoupling control system (ICMAE))

Autori
Kotarski, Denis ; Piljek, Petar ; Brezak, Hrvoje ; Kasać, Josip

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

Izvornik
2017 8th International Conference on Mechanical and Aerospace Engineering / - : Institute of Electrical and Electronics Engineers (IEEE), 2017, 385-390

Skup
International Conference on Mechanical and Aerospace Engineering

Mjesto i datum
Prag, Češka Republika, 22.07.2017. - 25.07.2017

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
multirotor UAV ; CAS ; non-flat design ; decoupling tracking control

Sažetak
Unmanned aerial vehicles (UAV) can potentially carry out a wide range of tasks and operate in hazardous conditions. Some tasks require complex and precise aircraft movements in the presence of external disturbances. In this paper, a design of non-flat multirotor configuration (NFH6) is presented. Through dynamic model, it is shown that flat multirotor configurations share inherent underactuated condition. By adequate change of the tilt angle around rotor arm, control allocation scheme (CAS) matrix reaches rank 6 which means that multirotor is able to achieve full controllability. Decoupling control system design, based on sliding mode control laws, is presented. Simulation results show satisfying tracking performance of the proposed control system design for a presented NFH6 platform.

Izvorni jezik
Engleski

Znanstvena područja
Fizika, Strojarstvo, Zrakoplovstvo, raketna i svemirska tehnika

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