TY - GEN
T1 - A daisy-chain control design for a multirotor UAV with direct force capabilities
AU - Mehmood, Hamza
AU - Johnson, Eric
PY - 2017/1/1
Y1 - 2017/1/1
N2 - An inherent limitation of conventional multirotor UAVs is the inability to control all 6 degrees of freedom (DoFs) independently. For these UAVs, any horizontal translational motion can only be achieved through changes in body attitude. Fixed-tilt multirotor UAVs consisting of six or more rotors, on the other hand, have direct force controllability in all DoFs. This enables them to translate horizontally without having to use attitude con- trols. In this paper a control system for position tracking tasks is developed and tested that utilizes this ability in a desired way. To this end, a Daisy-Chaining control policy is implemented. Finally, a test case is flown in a simulation environment for validation.
AB - An inherent limitation of conventional multirotor UAVs is the inability to control all 6 degrees of freedom (DoFs) independently. For these UAVs, any horizontal translational motion can only be achieved through changes in body attitude. Fixed-tilt multirotor UAVs consisting of six or more rotors, on the other hand, have direct force controllability in all DoFs. This enables them to translate horizontally without having to use attitude con- trols. In this paper a control system for position tracking tasks is developed and tested that utilizes this ability in a desired way. To this end, a Daisy-Chaining control policy is implemented. Finally, a test case is flown in a simulation environment for validation.
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M3 - Conference contribution
SN - 9781624104503
T3 - AIAA Guidance, Navigation, and Control Conference, 2017
BT - AIAA Guidance, Navigation, and Control Conference, 2017
PB - American Institute of Aeronautics and Astronautics Inc, AIAA
T2 - AIAA Guidance, Navigation, and Control Conference, 2017
Y2 - 9 January 2017 through 13 January 2017
ER -