In this paper, a novel thrust vectored 3D printed multicopter is designed and built. The dynamic equation of the multicopter with n propellers where n ≥ 2 is derived. Conditions for effective thrust vectoring is established. A robust control scheme for the multicopter system, based on the multi-surface sliding control is proposed. We prove that the proposed control scheme guarantees asymptotic output tracking performance. Experimental results are presented to validate the analysis.
History
Pagination
1270-1275
Location
Dalian, China
Start date
2017-07-26
End date
2017-07-28
ISSN
1934-1768
eISSN
2161-2927
ISBN-13
9789881563934
Language
eng
Publication classification
E Conference publication, E1 Full written paper - refereed
Copyright notice
2017, IEEE
Editor/Contributor(s)
[Unknown]
Title of proceedings
CCC 2017 : Proceedings of the 36th Chinese Control Conference
Event
Chinese Association of Automation. Conference (36th : 2017 : Dalian, China)