Flores, Alejandro (Centro de Investigaciones en Óptica A.C.), Flores, Gerardo (CENTRO DE INVESTIGACIONES EN OPTICA AC, CIO8004181K5)

Fully Actuated Hexa-Rotor UAV: Design, Construction, and Control. Simulation and Experimental Validation

Scheduled for presentation during the Regular Session "Multirotor Design and Control III" (FrC3), Friday, June 24, 2022, 15:20−15:40, Divona-1

2022 International Conference on Unmanned Aircraft Systems (ICUAS), June 21-24, 2022, Dubrovnik, Croatia

This information is tentative and subject to change. Compiled on April 23, 2024

Abstract

This work presents the construction, control, simulation, and a fully actuated Hexa-rotor UAV test. The structure and the mathematical model o this type of UAV has the principal characteristic of performing lateral displacements independently of the attitude states and vice-versa. As a result, the UAV can develop spatial movements while keeping a fixed attitude or make roll and pitch maneuvers without changing its actual position. We describe the design and construction of the Hexa-rotor frame. Finally, by implementing a feedback PID controller, we conducted different simulations and real experiments validating the flight envelope of the proposed fully actuated system. The code from the original PX4 Firmware is available on the paper.