M. Ghazali, Y. Bouzid, M. Belhocine, S. H. Derrouaoui
{"title":"Toward a New Multirotor Design With Spatial Configuration and Tilted Rotors","authors":"M. Ghazali, Y. Bouzid, M. Belhocine, S. H. Derrouaoui","doi":"10.1109/ICAECCS56710.2023.10104607","DOIUrl":null,"url":null,"abstract":"In recent years, aerial interaction tasks increasingly use UAVs, and because of their intrinsic under-actuation, they are consequently limited in their motion. Therefor, there are three classes of systems to overcome the under-actuation problem such as, the non-flat multirotors, drone with tilted rotors and reconfigurable systems. This paper proposes generic modeling of a multirotor with a non-flat configuration. This model is derived by considering all physical and mechanical constraints. As a result, the body-fixed frame can be placed at any point in the vehicle and the rotors instead with varying tilt angles and arm lengths in any position in space. These specifications give a nonsymmetrical and spatial configuration to the multirotor with fully row rank control allocation matrix. A numerical simulation result was provided to show the effectiveness of our model.","PeriodicalId":447668,"journal":{"name":"2023 International Conference on Advances in Electronics, Control and Communication Systems (ICAECCS)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2023-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2023 International Conference on Advances in Electronics, Control and Communication Systems (ICAECCS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAECCS56710.2023.10104607","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
In recent years, aerial interaction tasks increasingly use UAVs, and because of their intrinsic under-actuation, they are consequently limited in their motion. Therefor, there are three classes of systems to overcome the under-actuation problem such as, the non-flat multirotors, drone with tilted rotors and reconfigurable systems. This paper proposes generic modeling of a multirotor with a non-flat configuration. This model is derived by considering all physical and mechanical constraints. As a result, the body-fixed frame can be placed at any point in the vehicle and the rotors instead with varying tilt angles and arm lengths in any position in space. These specifications give a nonsymmetrical and spatial configuration to the multirotor with fully row rank control allocation matrix. A numerical simulation result was provided to show the effectiveness of our model.