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Article

Performance Analysis of Fully Actuated Multirotor Unmanned Aerial Vehicle Configurations with Passively Tilted Rotors

1
Department of Mechanical Engineering, Karlovac University of Applied Sciences, 47000 Karlovac, Croatia
2
Department of Technology, Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, 10000 Zagreb, Croatia
3
Department of Robotics and Production System Automation, Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, 10000 Zagreb, Croatia
*
Author to whom correspondence should be addressed.
Academic Editor: Paulo A. Sá
Appl. Sci. 2021, 11(18), 8786; https://doi.org/10.3390/app11188786
Received: 1 September 2021 / Revised: 17 September 2021 / Accepted: 20 September 2021 / Published: 21 September 2021
(This article belongs to the Special Issue Advances in Electric Propulsion Technology)
Unmanned aerial vehicles (UAVs) nowadays represent an interesting tool capable of performing various missions. The multirotor type of UAV is proven to be a potential solution in missions that require precise movements, such as environmental objects manipulation. In this paper, a procedure for the performance analysis of fully actuated multirotor UAV configurations is proposed. For this purpose, a configuration is described by a control allocation scheme and implemented in the software package which enables the analysis and control implementation of a real system. The parameter analysis of the passively tilted multirotor configurations is performed based on the characteristics of the electric propulsion units, and the allocation of propulsion forces is graphically shown. The results of the proposed procedure provide an insight into the capabilities of configurations and can ultimately be used to select the propulsion system components and parameters according to the requirements and constraints associated with the specific mission profile. An experimental aircraft was built, and custom firmware was created, which enable us to experimentally prove the feasibility of fully actuated and passively tilted configurations. View Full-Text
Keywords: multirotor UAV configuration; control allocation scheme; thrust force; analysis procedure; tilt angle; experimental aircraft multirotor UAV configuration; control allocation scheme; thrust force; analysis procedure; tilt angle; experimental aircraft
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MDPI and ACS Style

Kotarski, D.; Piljek, P.; Kasać, J.; Majetić, D. Performance Analysis of Fully Actuated Multirotor Unmanned Aerial Vehicle Configurations with Passively Tilted Rotors. Appl. Sci. 2021, 11, 8786. https://doi.org/10.3390/app11188786

AMA Style

Kotarski D, Piljek P, Kasać J, Majetić D. Performance Analysis of Fully Actuated Multirotor Unmanned Aerial Vehicle Configurations with Passively Tilted Rotors. Applied Sciences. 2021; 11(18):8786. https://doi.org/10.3390/app11188786

Chicago/Turabian Style

Kotarski, Denis, Petar Piljek, Josip Kasać, and Dubravko Majetić. 2021. "Performance Analysis of Fully Actuated Multirotor Unmanned Aerial Vehicle Configurations with Passively Tilted Rotors" Applied Sciences 11, no. 18: 8786. https://doi.org/10.3390/app11188786

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