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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 KouzaniIn 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 ConferencePagination
1270 - 1275Publisher
Institute of Electrical and Electronics EngineersLocation
Dalian, ChinaPlace of publication
Piscataway, N.J.Publisher DOI
Start date
2017-07-26End date
2017-07-28ISSN
1934-1768eISSN
2161-2927ISBN-13
9789881563934Language
engPublication classification
E Conference publication; E1 Full written paper - refereedCopyright notice
2017, IEEEEditor/Contributor(s)
[Unknown]Title of proceedings
CCC 2017 : Proceedings of the 36th Chinese Control ConferenceUsage metrics
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