Original scientific paper

https://doi.org/10.21278/TOF.42101

Chattering-Free Tracking Control of a Fully Actuated Multirotor with Passively Tilted Rotors

Denis Kotarski ; Karlovac University of Applied Sciences, Karlovac, Croatia
Petar Piljek orcid.org/0000-0003-3328-1497 ; Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Zagreb, Croatia
Hrvoje Brezak ; Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Zagreb, Croatia
Josip Kasać ; Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Zagreb, Croatia

Abstract

In this paper, a control allocation scheme is presented for a multirotor type of an Unmanned Aerial Vehicle (UAV). The control allocation scheme depends on the multirotor configuration and rotor system parameters, and it enables analysis of dynamics of different multirotor designs depending on the purpose and the task which the multirotor has to carry out. The analysis of force and moment distribution in space shows that the non-flat design with passively tilted rotors can overcome an inherent underactuated condition of flat multirotor configurations. By increasing the tilt angle, the multirotor is able to achieve full controllability over its six degrees of freedom (6 DOFs). A robust chattering-free sliding mode asymptotic tracking control design of a fully actuated multirotor is presented. The simulation results show satisfying tracking performance of the proposed controller.

Keywords

control allocation scheme; tilt angle; fully actuated multirotor; robust tracking control; RISE control

Hrčak ID:

198186

URI

https://hrcak.srce.hr/198186

Publication date:

9.4.2018.

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