A Simple Six Degree-of-Freedom Aerial Vehicle Built on Quadcopters

被引：6

作者：

Pi, Chen-Huan ^{[2
,3
]}

Ruan, Lecheng ^{[1
]}

Yu, Pengkang ^{[1
]}

Su, Yao ^{[1
]}

Cheng, Stone ^{[2
,3
]}

Tsao, Tsu-Chin ^{[1
]}

机构：

[1] Univ Calif Los Angeles, Mech & Aerosp Engn Dept, Los Angeles, CA 90095 USA

[2] Natl Yang Ming Chiao Tung Univ, Mech Engn Dept, Hsinchu, Taiwan

[3] UCLA, Los Angeles, CA USA

来源：

5TH IEEE CONFERENCE ON CONTROL TECHNOLOGY AND APPLICATIONS (IEEE CCTA 2021) | 2021年

关键词：

D O I：

10.1109/CCTA48906.2021.9658811

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Conventional multirolors have coupling between position and attitude control due to underactuation in dynamics, and thus can not track six degree-of-freedom (DoF) trajectories in space. Previous works proposed fully actuated multirotors with modifications to mechanical structure to provide varying orientations of thrust forces without changing the attitude, but usually introduced additional actuators and mechanisms so that the complexity for design and construction was increased. This paper proposes a novel multirotor platform with the capability of six Dole control, which can be easily constructed with commercial quadcopters and simple 3D printed connectors, and effortlessly scaled. An easily implemented controller is designed, and the six DoF control is verified through simulation and real world experiments.

引用

页码：329 / 334

页数：6

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