A daisy-chain control design for a multirotor UAV with direct force capabilities

Hamza Mehmood, Eric Johnson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

An inherent limitation of conventional multirotor UAVs is the inability to control all 6 degrees of freedom (DoFs) independently. For these UAVs, any horizontal translational motion can only be achieved through changes in body attitude. Fixed-tilt multirotor UAVs consisting of six or more rotors, on the other hand, have direct force controllability in all DoFs. This enables them to translate horizontally without having to use attitude con- trols. In this paper a control system for position tracking tasks is developed and tested that utilizes this ability in a desired way. To this end, a Daisy-Chaining control policy is implemented. Finally, a test case is flown in a simulation environment for validation.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference, 2017
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624104503
StatePublished - Jan 1 2017
EventAIAA Guidance, Navigation, and Control Conference, 2017 - Grapevine, United States
Duration: Jan 9 2017Jan 13 2017

Publication series

NameAIAA Guidance, Navigation, and Control Conference, 2017

Other

OtherAIAA Guidance, Navigation, and Control Conference, 2017
CountryUnited States
CityGrapevine
Period1/9/171/13/17

Fingerprint

Unmanned aerial vehicles (UAV)
Attitude control
Controllability
Rotors
Control systems

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Mehmood, H., & Johnson, E. (2017). A daisy-chain control design for a multirotor UAV with direct force capabilities. In AIAA Guidance, Navigation, and Control Conference, 2017 (AIAA Guidance, Navigation, and Control Conference, 2017). American Institute of Aeronautics and Astronautics Inc, AIAA.
Mehmood, Hamza ; Johnson, Eric. / A daisy-chain control design for a multirotor UAV with direct force capabilities. AIAA Guidance, Navigation, and Control Conference, 2017. American Institute of Aeronautics and Astronautics Inc, AIAA, 2017. (AIAA Guidance, Navigation, and Control Conference, 2017).
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Mehmood, H & Johnson, E 2017, A daisy-chain control design for a multirotor UAV with direct force capabilities. in AIAA Guidance, Navigation, and Control Conference, 2017. AIAA Guidance, Navigation, and Control Conference, 2017, American Institute of Aeronautics and Astronautics Inc, AIAA, AIAA Guidance, Navigation, and Control Conference, 2017, Grapevine, United States, 1/9/17.

A daisy-chain control design for a multirotor UAV with direct force capabilities. / Mehmood, Hamza; Johnson, Eric.

AIAA Guidance, Navigation, and Control Conference, 2017. American Institute of Aeronautics and Astronautics Inc, AIAA, 2017. (AIAA Guidance, Navigation, and Control Conference, 2017).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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N2 - An inherent limitation of conventional multirotor UAVs is the inability to control all 6 degrees of freedom (DoFs) independently. For these UAVs, any horizontal translational motion can only be achieved through changes in body attitude. Fixed-tilt multirotor UAVs consisting of six or more rotors, on the other hand, have direct force controllability in all DoFs. This enables them to translate horizontally without having to use attitude con- trols. In this paper a control system for position tracking tasks is developed and tested that utilizes this ability in a desired way. To this end, a Daisy-Chaining control policy is implemented. Finally, a test case is flown in a simulation environment for validation.

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Mehmood H, Johnson E. A daisy-chain control design for a multirotor UAV with direct force capabilities. In AIAA Guidance, Navigation, and Control Conference, 2017. American Institute of Aeronautics and Astronautics Inc, AIAA. 2017. (AIAA Guidance, Navigation, and Control Conference, 2017).