Stability and performance analysis of unmanned aerial vehicles: Quadrotor against Hexrotor
| Autor: | Leopoldo Acosta, Nestor Morales, Jonay Toledo, Daniel Perea |
|---|---|
| Rok vydání: | 2015 |
| Předmět: |
Uncertainty model
Engineering Control and Optimization business.industry Control engineering Computer Science Applications Human-Computer Interaction Control and Systems Engineering Control theory Robustness (computer science) Robot Electrical and Electronic Engineering Robust control Multirotor business |
| Zdroj: | IET Control Theory & Applications. 9:1190-1196 |
| ISSN: | 1751-8652 |
| DOI: | 10.1049/iet-cta.2014.1032 |
| Popis: | Multirotor helicopters are very powerful flying robots used in many applications, but their lack is robustness. A fail in any of their rotors can drive the helicopter to fall. In this study two different micro-helicopter structures are analysed, a standard Quadrotor and a Hexrotor. An uncertainty model is generated and a robust controller is designed. The structured singular value μ Δ is used to test the robust stability and performance of these two plants, obtaining better results for Hex than Quadrotor. At the end of the study, a set of flight tests, where some of the motors are partially damaged, is presented confirming the analysis of μ Δ. Results of this study show Hexrotor as a very interesting structure for unmanned aerial vehiclesbecause of its stability and performance characteristics compared with Quadrotor. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|
Plný text