Modeling and Control of a Novel Bi-Quadcopter with Auxiliary Thruster Mechanism
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arXiv
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| Hauptverfasser: | , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866910462090674176 |
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| author | Vundela, Vijay Reddy Muralidharan, Vijay |
| author_facet | Vundela, Vijay Reddy Muralidharan, Vijay |
| contents | In this paper, a new under-actuated Bi-Quadcopter Unmanned Aerial Vehicle is introduced. The proposed drone configuration can be controlled similar to a Bicopter. The dynamics of the proposed Bi-Quadcopter is developed using the Newton-Euler approach. Using the force decomposition technique, a mapping between the control wrench and actuator inputs is developed. A nonlinear position control is applied for the Bi-Quadcopter using the quaternion-based cascaded attitude controller. The performance of the proposed UAV with the control algorithm is verified through simulations. Finally, the actuator failure scenarios were analyzed. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2405_18787 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Modeling and Control of a Novel Bi-Quadcopter with Auxiliary Thruster Mechanism Vundela, Vijay Reddy Muralidharan, Vijay Systems and Control In this paper, a new under-actuated Bi-Quadcopter Unmanned Aerial Vehicle is introduced. The proposed drone configuration can be controlled similar to a Bicopter. The dynamics of the proposed Bi-Quadcopter is developed using the Newton-Euler approach. Using the force decomposition technique, a mapping between the control wrench and actuator inputs is developed. A nonlinear position control is applied for the Bi-Quadcopter using the quaternion-based cascaded attitude controller. The performance of the proposed UAV with the control algorithm is verified through simulations. Finally, the actuator failure scenarios were analyzed. |
| title | Modeling and Control of a Novel Bi-Quadcopter with Auxiliary Thruster Mechanism |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2405.18787 |