Design, Modeling and Control of T3-Multirotor: A Tilting Thruster Type Multirotor *This work was supported by the Robotics Core Technology Development Project (10080301) funded by the Ministry of Trade Industry and Energy (MoTIE, Korea), National Research Foundation of Korea (NRF) grant funded by the Ministry of Science, ICT and Future Planning (2014M1A3A3A02034854)
Seung Jae Lee, Jaehyun Yoo, H. Jin Kim
Abstract
This paper presents a new design of multirotor, named as `Tilting Thruster Type' (T <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> )-multirotor. The new platform is equipped with mechanically separated thrusters, which can take any fuselage posture within a specified range regardless of any direction of translational acceleration. A specially designed servo-linkage mechanism is employed for relative attitude control between the thruster and the fuselage. Mathematical modeling and analysis of the new platform are conducted to explore the control method of the dynamically complex system. For demonstrating the potential of the new T <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> -multirotor, an autonomous level flight is performed where the fuselage maintains zero roll and pitch angle during the entire flight. Both simulation and experimental results are provided with detailed analysis.
BibTeX
@inproceedings{icra2018_designmodelingan,
title = {Design, Modeling and Control of T3-Multirotor: A Tilting Thruster Type Multirotor *This work was supported by the Robotics Core Technology Development Project (10080301) funded by the Ministry of Trade Industry and Energy (MoTIE, Korea), National Research Foundation of Korea (NRF) grant funded by the Ministry of Science, ICT and Future Planning (2014M1A3A3A02034854)},
author = {Seung Jae Lee and Jaehyun Yoo and H. Jin Kim},
booktitle = {ICRA 2018},
year = {2018}
}