NDLI: A Novel Actuation Concept for a Multi Rotor UAV

Content Provider	Springer Nature Link
Author	Segui Gasco, Pau Al Rihani, Yazan Shin, Hyo Sang Savvaris, Al
Copyright Year	2013
Abstract	This paper proposes a novel strategy to improve the performance and fault tolerance of multi-rotor vehicles. The proposed strategy uses dual axis tilting propellers and thus enables three different actuation mechanisms, namely, gyroscopic torques, thrust vectoring and differential thrusting. Unlike the conventional quadrotor, the proposed strategy offers a wider range of control torques by combining the three actuation mechanisms. Conventional quadrotors cannot be reconfigured if one of rotors fails. However, the proposed strategy is still able to reconfigure the vehicle with complete failure of one rotor and a pair of adverse motors. In order to prove this concept, a dual axis tilting UAV is first designed and prototyped. Next, a mathematical representation of the prototyped vehicle is modelled and verified using experiments. Then, a control system is developed based on a PD controller and pseudoinverse control allocator and validated through tests on a rig and flight tests. The tests show that the vehicle is faster than a conventional counterpart and that it can resist the failure of two rotors. Finally, this paper suggests how to lead further substantial improvements in performance.
Starting Page	173
Ending Page	191
Page Count	19
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	74
Issue Number	1-2
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2013-11-22
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Multi-rotor vehicle Agility and reliability Actuation mechanism Gyroscopic torques Thrust vectoring Differential thrusting Control allocation Control, Robotics, Mechatronics Electrical Engineering Artificial Intelligence (incl. Robotics) Mechanical Engineering
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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