Design and control of novel tri-rotor UAV

Kara-Mohamed, Mohamed and Lanzon, Alexander (2012) Design and control of novel tri-rotor UAV. In: Control (CONTROL), 2012 UKACC International Conference on, 3rd - 5th September 2012, Cardiff, UK.

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Abstract

Tri-rotor UAVs are more efficient compared to quadrotors in regard to the size and power requirement, yet, tri-rotor UAVs are more challenging in terms of control and stability. In this paper, we propose the design and control of a novel tri-rotor UAV. The proposed platform is designed to achieve six degree of freedom using a thrust vectoring technique with the highest level of flexibility, manoeuvrability and minimum requirement of power. The proposed tri-rotor has a triangular shape of three arms where at the end of each arm, a fixed pitch propeller is driven by a DC motor. A tilting mechanism is employed to tilt the motor-propeller assembly and produce thrust in the desired direction. The three propellers can be tilted independently to achieve full authority of torque and force vectoring. A feedback linearization associated with ℋ∞ loop shaping design is used to synthesize a controller for the system. The results are verified via simulation.

Item Type: Conference or Workshop Item (Paper)
Subjects: H600 Electronic and Electrical Engineering
Divisions: Faculty of Computing, Engineering and the Built Environment > School of Engineering and the Built Environment > Advanced Systems Engineering
UoA Collections > UoA15: General Engineering
Depositing User: Mohamed Kara-Mohamed
Date Deposited: 24 Mar 2017 12:49
Last Modified: 15 May 2017 14:05
URI: http://www.open-access.bcu.ac.uk/id/eprint/4098

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