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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
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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]   |  

Abstract

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
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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).

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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.

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