A Comparison of Closed-Loop Performance of Multirotor Configurations Using Non-Linear Dynamic Inversion Control

Aerospace

Murray L. Ireland¹  Aldo Vargas²  David Anderson² 

[1] School of Engineering, University of Glasgow, University Avenue, Glasgow G12 8QQ, UK;

关键词: multirotor;    quadrotor;    hexarotor;    octorotor;    non-linear dynamic inversion;    non-linear control;   

DOI  :  10.3390/aerospace2020325

来源: mdpi

【 摘 要 】

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.

【 授权许可】

CC BY   
© 2015 by the authors; licensee MDPI, Basel, Switzerland.