| Title: | OS22-3 Control System Design of Directionally Maneuvering Multicopter with Constant Yaw Rate |
|---|---|
| Publication: | ICAROB2018 |
| Volume: | 23 |
| Pages: | 775-778 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2018.OS22-3 |
| Author(s): | Jaehyu Bae, Dong-Gyun Kim, Byoungjin Lee, Sangkyung Sung, Joon Goo Park |
| Publication Date: | February 2, 2018 |
| Keywords: | Multicopter, Rotating Motion, Separated Maneuvering, Differential Thrust, Flight Test |
| Abstract: | This paper presents the controller design, implementation and flight test results of a multicopter system for achieving vertical axis rotating motion and a separated maneuvering in horizontal axis, simultaneously. For this, formulation for position and velocity control of the multicopter is designed and the trajectory guidance method is exploited. Especially, the quaternion - based motions and thrust control equations are newly derived, which can generate an independent differential thrust in the horizontal axis while maintaining a constant vertical axis rotation. In order to verify the performance of the designed controller, the algorithm is implemented in an onboard flight control computer. Flight test results demonstrate trajectory errors within 2m during cyclic motion. |
| PDF File: | https://alife-robotics.co.jp/members2018/icarob/data/html/data/OS_pdf/OS22/OS22-3.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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