Riekenbrauck, Eva Katharina (Technical University Munich), Hünteler, Carlos (Technische Universität München), Soepper, Max (TUM / Avilus GmbH), Holzapfel, Florian (Technische Universität München)

Extension of Reaction Sets to Six Dimensions for Tilted-Propeller Multicopters

Scheduled for presentation during the Regular Session "Modelling and simulation" (WeCB), Wednesday, June 11, 2025, 17:10−17:30,

33rd Mediterranean Conference on Control and Automation, June 10-13, 2025, Tangier, Morocco

This information is tentative and subject to change. Compiled on May 9, 2025

Abstract

Aerial vehicles employed for inspection activities require high resilience against environmental disturbances to maintain a stable observation state. In order to effectively counteract those disturbances, the allocation of direct forces, particularly in the medial and lateral directions, gains importance. This raises the necessity of including those two directions in the controllability analysis of the vehicle. Hence, this work extends a methodology for calculating the Attainable and Required Reaction Sets from four to six dimensions, adding the medial and lateral directions to the previously considered vertical, pitch, roll, and yaw dimension. The Attainable Reaction Set (ARS) represents the forces and moments that the aerial vehicle is capable of generating. This set is evaluated against the Required Reaction Set (RRS), which establishes the required forces and moments defined by the mission. The six-dimensional methodology is applied to a tilted-propeller multicopter designed to operate in marine conditions with high environmental disturbances. As a result, the required and attainable lateral and medial forces, along with the other four dimensions, can be clearly analyzed. The four-dimensional algorithm is applied to the same model and allows the six-dimensional methodology to be validated and contrasted in the common dimensions.