Next Article in Journal
Gaussian Mixture Modeling for Detecting Integrity Attacks in Smart Grids
Next Article in Special Issue
A Soft Sensor Development for the Rotational Speed Measurement of an Electric Propeller
Previous Article in Journal
Optical Orientation and Inverse Spin Hall Effect as Effective Tools to Investigate Spin-Dependent Diffusion
Article Menu

Export Article

Open AccessArticle
Electronics 2016, 5(4), 81; doi:10.3390/electronics5040081

Modelling and Daisy Chaining Control Allocation of a Multirotor Helicopter with a Single Tilting Rotor

Robotics and Mechatronics Research Laboratory, Department of Mechanical and Aerospace Engineering, Monash University, Clayton, VIC 3800, Australia
Author to whom correspondence should be addressed.
Academic Editor: Sergio Montenegro
Received: 7 October 2016 / Revised: 7 November 2016 / Accepted: 15 November 2016 / Published: 23 November 2016
(This article belongs to the Special Issue Unmanned Aerial Systems/Vehicles (UAS/V) and Drones)
View Full-Text   |   Download PDF [5323 KB, uploaded 23 November 2016]   |  


This paper presents the development and implementation of a single tilting rotor multirotor helicopter. A single tilting rotor multirotor helicopter is proposed that allows for decoupled lateral acceleration and attitude states. A dynamics model of the proposed multirotor helicopter is established to enable control system development. A control system architecture and daisy chaining-based control allocation scheme is developed and implemented. The control architecture facilitates the control of decoupled lateral accelerations and attitudes. Further, a computational and experimental analysis is undertaken and offers evidence that the proposed multirotor helicopter and control system architecture enables the multirotor helicopter to achieve lateral accelerations without requiring attitude actuation. View Full-Text
Keywords: unmanned aerial vehicles; multirotor helicopter; tilt-rotor; control allocation unmanned aerial vehicles; multirotor helicopter; tilt-rotor; control allocation

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Porter, R.; Shirinzadeh, B.; Choi, M. Modelling and Daisy Chaining Control Allocation of a Multirotor Helicopter with a Single Tilting Rotor. Electronics 2016, 5, 81.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Electronics EISSN 2079-9292 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top