Abstract
The realization of an unmanned aerial vehicle (UAV) with three tiltable propellers in a planar 120° arrangement is described in detail. A single rigid body approximate model of this vehicle is fully actuated, thus allowing for a variety of flight maneuvers including translation without tilting and inclined hovering. The tracking control of this inherently unstable system is treated in existing literature but assumes full-state measurement and direct access to the body-fixed forces and torques. To meet these challenges, a fast control scheme for the underlying actuator dynamics is proposed and a state and disturbance estimator based on on-board inertial and infrequent delayed external position and orientation measurements is discussed. All designs are experimentally validated including flight tests that demonstrate good trajectory tracking performance.
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Notes
- 1.
See also https://youtu.be/oS5PHr6H0K4.
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Konz, M., Kastelan, D., Rudolph, J. (2020). Tracking Control for a Fully-Actuated UAV. In: Yan, XT., Bradley, D., Russell, D., Moore, P. (eds) Reinventing Mechatronics. Springer, Cham. https://doi.org/10.1007/978-3-030-29131-0_9
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DOI: https://doi.org/10.1007/978-3-030-29131-0_9
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