Naslov
Generalized Control Allocation Scheme for Multirotor Type of UAVs

Autori
Kotarski, Denis ; Kasać, Josip

Vrsta, podvrsta i kategorija rada
Poglavlja u knjigama, znanstveni

Knjiga
Drones - Applications

Urednik/ci
Dekoulis, George

Izdavač
IntechOpen

Grad
London : Delhi

Godina
2018

Raspon stranica
43-58

ISBN
978-1-78923-285-1

Ključne riječi
multirotor UAV ; VTOL ; control allocation scheme ; propulsion subsystem ; motor mixer

Sažetak
Unmanned aerial vehicles (UAVs) are autonomous or remotely guided aircraft, which can potentially carry out a wide range of tasks. Multirotor type of UAV has unique ability to perform vertical take-off and landing (VTOL), a stationary and low-speed flight where certain configurations can achieve very complex and precise movements. Therefore, they are suitable for performing tasks such as delivery of first aid kit, firefighting, infrastructure inspection, aerial video, and many others. In this chapter, a generalized control allocation scheme for a multirotor UAV is presented, which describes the mapping of rotor angular velocities to the control vector of the aircraft. It enables control and design of multirotor configurations with diverse geometrical arrangement and characteristics of the propulsion subsystem depending on the task, which multirotor has to carry out. The inverted scheme, which is implemented as a motor mixer, maps the control inputs into a set of aircraft actuator outputs.

Izvorni jezik
Engleski

Znanstvena područja
Fizika, Strojarstvo, Interdisciplinarne tehničke znanosti

POVEZANOST RADA