Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
ATTITUDE AND POSITION CONTROL OF TILTING ROTOR MULTI-COPTER
Submission Author:
Felipe Machini Malachias Marques , MG
Co-Authors:
Felipe Machini Malachias Marques, Roberto Mendes Finzi Neto, Leonardo Sanches
Presenter: Felipe Machini Malachias Marques
doi://10.26678/ABCM.COBEM2019.COB2019-0717
Abstract
In this paper, the dynamic model of a tilting rotor multi-copter, with \textit{n} motors containing vectoring thrust mechanisms on lateral and longitudinal directions, is presented. Once standard configurations of multi-copters (rotor fixed) are classified as underactuated systems, their number of control inputs are insufficient to allow position and attitude control independently. Hence, the addition of tilt mechanisms on the rotors arm increases the number of control inputs enabling the system to perform hover flight on different equilibrium conditions. In this work, the aircraft equations of motion are derived using Newton-Euler formulation assuming that each rotor is capable of tilting on two independent directions, laterally and longitudinally w.r.t. its arm. Later, the model is linearized as function of the desired trimmed conditions, represented by the reference orientation in this case, using small perturbation theory. Furthermore, a control law based on modern control techniques is proposed and designed to achieve hovering and navigation capability for the desired pitch and roll angles. Finally, the derived dynamical model and the control design are verified via numerical simulation.
Keywords
Multi-Copter, Tilt-rotor, Modern Control, attitude control
