A comparison of closed-loop performance of multirotor configurations using non-linear dynamic inversion control

Ireland, M. L. , Vargas, A. and Anderson, D. (2015) A comparison of closed-loop performance of multirotor configurations using non-linear dynamic inversion control. Aerospace, 2(2), pp. 325-352. (doi:10.3390/aerospace2020325)

Ireland, M. L. , Vargas, A. and Anderson, D. (2015) A comparison of closed-loop performance of multirotor configurations using non-linear dynamic inversion control. Aerospace, 2(2), pp. 325-352. (doi:10.3390/aerospace2020325)

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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.

Item Type:Articles
Keywords:Multirotor, quadrotor, non-linear dynamic inversion, control, UAV
Status:Published
Refereed:Yes
Glasgow Author(s) Enlighten ID:Vargas, Aldo and Ireland, Dr Murray and Anderson, Dr David
Authors: Ireland, M. L., Vargas, A., and Anderson, D.
Subjects:T Technology > TL Motor vehicles. Aeronautics. Astronautics
College/School:College of Science and Engineering > School of Engineering
College of Science and Engineering > School of Engineering > Aerospace Sciences
Journal Name:Aerospace
Publisher:MDPI
ISSN:2226-4310
ISSN (Online):2226-4310
Copyright Holders:Copyright © 2015 The Authors
First Published:First published in Aerospace 2(2):325-352
Publisher Policy:Reproduced under a Creative Commons License

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