ICUAS'23 Paper Abstract

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Paper FrB5.1

Flores, Alejandro (Centro de Investigaciones en Óptica), Verdìn, Rodolfo Isaac (Centro de Investigaciones en Óptica), Moreno Jimenez, Hugo Alberto (Centro de Investigaciones en Óptica), Flores, Gerardo (Centro de Investigaciones en Óptica)

Development, Model, Simulation, and Real Test of a New Fully Actuated Quad-Rotor

Scheduled for presentation during the Regular Session "Multirotor Design and Control II" (FrB5), Friday, June 9, 2023, 14:00−14:20, Room 466

2023 International Conference on Unmanned Aircraft Systems (ICUAS), June 6-9, 2023, Lazarski University, Warsaw, Poland

This information is tentative and subject to change. Compiled on March 28, 2024

Keywords Multirotor Design and Control, Integration, Simulation

Abstract

This study presents the design, construction, and testing of a fully actuated quadrotor UAV prototype named FlapPyr that utilizes the "+" arrangement to produce horizontal forces. Four flaps are installed beneath each main motor to capture the airflow from propellers and generate aerodynamic forces perpendicular to them. A control allocation matrix is determined by modeling the complete structure and forces. This UAV suits applications requiring position control while maintaining zero tilting angles. Both software in the loop simulations and real-world tests are conducted to evaluate the system's performance. The real-world tests highlighted the system's sensitivity to external air disturbances, which can be addressed through robust control laws. The developed code for this work is publicly available on GitHub, and a video showcasing the experiments is also provided.

 

 

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