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Design, Modeling and Control of T-3-Multirotor: a Tilting Thruster Type Multirotor
Seoul Natl Univ, Dept Mech & Aerosp Engn, Seoul, South Korea.;Seoul Natl Univ, Automat & Syst Res Inst, Seoul, South Korea..
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
Seoul Natl Univ, Dept Mech & Aerosp Engn, Seoul, South Korea.;Seoul Natl Univ, Automat & Syst Res Inst, Seoul, South Korea..
2018 (English)In: 2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE Computer Society, 2018, p. 1214-1219Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents a new design of multirotor, named as 'Tilting Thruster Type' (T-3)-multirotor. The new platform is equipped with mechanically separated thrusters, which can take any fuselage posture within a specified range regardless of any direction of translational acceleration. A specially designed servo-linkage mechanism is employed for relative attitude control between the thruster and the fuselage. Mathematical modeling and analysis of the new platform are conducted to explore the control method of the dynamically complex system. For demonstrating the potential of the new T(3-)multirotor, an autonomous level flight is performed where the fuselage maintains zero roll and pitch angle during the entire flight. Both simulation and experimental results are provided with detailed analysis.

Place, publisher, year, edition, pages
IEEE Computer Society, 2018. p. 1214-1219
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
National Category
Aerospace Engineering
Identifiers
URN: urn:nbn:se:kth:diva-237159ISI: 000446394501004ISBN: 978-1-5386-3081-5 (print)OAI: oai:DiVA.org:kth-237159DiVA, id: diva2:1258407
Conference
IEEE International Conference on Robotics and Automation (ICRA), MAY 21-25, 2018, Brisbane, AUSTRALIA
Note

QC 20181024

Available from: 2018-10-24 Created: 2018-10-24 Last updated: 2019-08-20Bibliographically approved

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Yoo, Jaehyun

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