TY - GEN
T1 - Design, Modeling and Control of T3-Multirotor
T2 - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
AU - Lee, Seung Jae
AU - Yoo, Jaehyun
AU - Kim, H. Jin
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/9/10
Y1 - 2018/9/10
N2 - This paper presents a new design of multirotor, named as 'Tilting Thruster Type' (T3)-multirotor. The new platform is equipped with mechanically separated thrusters, which can take any fuselage posture within a specified range regardless of any direction of translational acceleration. A specially designed servo-linkage mechanism is employed for relative attitude control between the thruster and the fuselage. Mathematical modeling and analysis of the new platform are conducted to explore the control method of the dynamically complex system. For demonstrating the potential of the new T3- multirotor, an autonomous level flight is performed where the fuselage maintains zero roll and pitch angle during the entire flight. Both simulation and experimental results are provided with detailed analysis.
AB - This paper presents a new design of multirotor, named as 'Tilting Thruster Type' (T3)-multirotor. The new platform is equipped with mechanically separated thrusters, which can take any fuselage posture within a specified range regardless of any direction of translational acceleration. A specially designed servo-linkage mechanism is employed for relative attitude control between the thruster and the fuselage. Mathematical modeling and analysis of the new platform are conducted to explore the control method of the dynamically complex system. For demonstrating the potential of the new T3- multirotor, an autonomous level flight is performed where the fuselage maintains zero roll and pitch angle during the entire flight. Both simulation and experimental results are provided with detailed analysis.
UR - https://www.scopus.com/pages/publications/85063142735
U2 - 10.1109/ICRA.2018.8462888
DO - 10.1109/ICRA.2018.8462888
M3 - Conference contribution
AN - SCOPUS:85063142735
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1214
EP - 1219
BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 21 May 2018 through 25 May 2018
ER -