Chaikalis, Dimitris (New York University), Evangeliou, Nikolaos (New York University Abu Dhabi), Tzes, Anthony (New York University Abu Dhabi), Khorrami, Farshad (NYU Tandon School of Engineering (polytechnic Institute))

Adaptive Control of Coupled-Multicopter Systems

Scheduled for presentation during the Regular Session "UAS Applications III" (FrB5), Friday, June 24, 2022, 11:50−12:10, Elafiti

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 19, 2024

Abstract

The control problem of a multi-copter swarm, physically connected within a modular lattice structure, is considered in this article. The end-to-end connected mechanical structure having as nodes, copters, is able to achieve proper flight as an entire aerial vehicle. A graph-based procedure is presented for analysing any type of structure generated by the proposed modular usage of polygons and rods. The devised controller utilizes the total thrust provided by each copter to lift the vehicle and regulate its roll and pitch angles while attempting to maximize total flight time with the use of a battery-life optimization scheme. Experimental studies are offered to illustrate the efficacy of the suggested design and controller