Abstract
This paper presents the development and implementation of a single tilting rotor multirotor helicopter. A single tilting rotor multirotor helicopter is proposed that allows for decoupled lateral acceleration and attitude states. A dynamics model of the proposed multirotor helicopter is established to enable control system development. A control system architecture and daisy chaining-based control allocation scheme is developed and implemented. The control architecture facilitates the control of decoupled lateral accelerations and attitudes. Further, a computational and experimental analysis is undertaken and offers evidence that the proposed multirotor helicopter and control system architecture enables the multirotor helicopter to achieve lateral accelerations without requiring attitude actuation.
| Original language | English |
|---|---|
| Article number | 81 |
| Number of pages | 18 |
| Journal | Electronics |
| Volume | 5 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - 1 Dec 2016 |
Keywords
- Control allocation
- Multirotor helicopter
- Tilt-rotor
- Unmanned aerial vehicles