NDLI: Modeling and simulation of quadrotor UAV with tilting rotors

Content Provider	Springer Nature Link
Author	Elfeky, Mahmoud Elshafei, Moustafa Saif, Abdul Wahid A. Al Malki, Mohamed F.
Copyright Year	2016
Abstract	Quadrotors have recently been drawing greater research and commercial attention to the point that they have become one of the most popular types of unmanned aerial vehicles. Their applications vary from entertainment to transportation, commercial and even military applications. In this paper, a novel quadrotor design is proposed. The design decouples all motions by allowing each rotor to tilt in two directions about the quadrotor fixed frame. This modification improves the stability and safety of the quadrotor and gives it more manoeuvrability and robustness. The mathematical model of the proposed system is carried out using Newton-Euler technique. Several flight scenarios are also simulated under a simple PID controller to illustrate the superiority over conventional quadrotor designs.
Starting Page	1047
Ending Page	1055
Page Count	9
File Format	PDF
ISSN	15986446
Journal	International Journal of Control, Automation and Systems
Volume Number	14
Issue Number	4
e-ISSN	20054092
Language	English
Publisher	Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
Publisher Date	2016-06-01
Publisher Place	Bucheon, Seoul
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Degrees of freedom fault tolerance quadrotor tilting rotor UAV underactuated Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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