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Robust control of novel thrust vectored 3D printed multicopter

conference contribution
posted on 2017-09-11, 00:00 authored by Sui Yang KhooSui Yang Khoo, Michael NortonMichael Norton, J J Kumar, J Yin, X Yu, T Macpherson, D Dowling, Abbas KouzaniAbbas Kouzani
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

Event

Chinese Association of Automation. Conference (36th : 2017 : Dalian, China)

Series

Chinese Association of Automation Conference

Pagination

1270 - 1275

Publisher

Institute of Electrical and Electronics Engineers

Location

Dalian, China

Place of publication

Piscataway, N.J.

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