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Aerospace 2015, 2(2), 325-352; doi:10.3390/aerospace2020325

A Comparison of Closed-Loop Performance of Multirotor Configurations Using Non-Linear Dynamic Inversion Control

School of Engineering, University of Glasgow, University Avenue, Glasgow G12 8QQ, UK
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Author to whom correspondence should be addressed.
Academic Editor: Rafic Ajaj
Received: 23 April 2015 / Revised: 18 May 2015 / Accepted: 1 June 2015 / Published: 5 June 2015
(This article belongs to the Special Issue Unmanned Aerial Systems 2015)
View Full-Text   |   Download PDF [920 KB, uploaded 5 June 2015]   |  

Abstract

Multirotor is the umbrella term for the family of unmanned aircraft, which include the quadrotor, hexarotor and other vertical take-off and landing (VTOL) aircraft that employ multiple main rotors for lift and control. Development and testing of novel multirotor designs has been aided by the proliferation of 3D printing and inexpensive flight controllers and components. Different multirotor configurations exhibit specific strengths, while presenting unique challenges with regards to design and control. This article highlights the primary differences between three multirotor platforms: a quadrotor; a fully-actuated hexarotor; and an octorotor. Each platform is modelled and then controlled using non-linear dynamic inversion. The differences in dynamics, control and performance are then discussed. View Full-Text
Keywords: multirotor; quadrotor; hexarotor; octorotor; non-linear dynamic inversion; non-linear control multirotor; quadrotor; hexarotor; octorotor; non-linear dynamic inversion; non-linear control
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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

Ireland, M.L.; Vargas, A.; Anderson, D. A Comparison of Closed-Loop Performance of Multirotor Configurations Using Non-Linear Dynamic Inversion Control. Aerospace 2015, 2, 325-352.

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