International Journal of Aeronautical and Space Sciences

The Korean Society for Aeronautical and Space Sciences (한국항공우주학회)
권호 표지
DOI QR코드

DOI QR Code

Dynamic Modeling and Stabilization Techniques for Tri-Rotor Unmanned Aerial Vehicles

  • Yoo, Dong-Wan (Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology) ;
  • Oh, Hyon-Dong (Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology) ;
  • Won, Dae-Yeon (Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology) ;
  • Tahk, Min-Jea (Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology)
  • Published : 2010.09.15
Download PDF
⟨ Previous Next ⟩

Abstract

The design, dynamics, and control allocation of tri-rotor unmanned aerial vehicles (UAVs) are introduced in this paper. A trirotor UAV has three rotor axes that are equidistant from its center of gravity. Two designs of tri-rotor UAV are introduced in this paper. The single tri-rotor UAV has a servo-motor that is installed on one of the three rotors, which enables rapid control of its motion and its various attitude changes-unlike a quad-rotor UAV that depends only on the angular velocities of four rotors for control. The other design is called 'coaxial tri-rotor UAV,' which has two rotors installed on each rotor axis. Since the tri-rotor type of UAV has the yawing problem induced from an unpaired rotor's reaction torque, it is necessary to derive accurate dynamic and design control logic for both single and coaxial tri-rotors. For that reason, a control strategy is proposed for each type of tri-rotor, and nonlinear simulations of the altitude, Euler angle, and angular velocity responses are conducted by using a classical proportional-integral-derivative controller. Simulation results show that the proposed control strategies are appropriate for the control of single and coaxial tri-rotor UAVs.

Keywords

References

  1. Castillo, P., Lozano, R., and Dzul, A. (2004). Stabilization of a mini-rotorcraft having four rotors. Proceedings 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan. pp. 2693-2698.
  2. Escareo, J., Sanchez, A., Garcia, O., and Lozano, R. (2008). Triple tilting rotor mini-UAV: Modeling and embedded control of the attitude. American Control Conference, Seattle, WA. pp. 3476-3481.
  3. Guenard, N., Hamel, T., and Moreau, V. (2005). Dynamic modeling and intuitive control strategy for an “X4-flyer”. International Conference on Control and Automation, Budapest, Hungary. pp. 141-146.
  4. Mettler, B. (2003). Identification Modeling and Characteristics of Miniature Rotorcraft. Boston: Kluwer Academic Publishers.
  5. Padfield, G. D. (2007). Helicopter Flight Dynamics: the Theory and Application of Flying Qualities and Simulation Modelling. 2nd ed. Washington, DC: American Institute of Aeronautics and Astronautics.
  6. Salazar-Cruz, S., Kendoul, F., Lozano, R., and Fantoni, I. (2008). Real-time stabilization of a small three-rotor aircraft. IEEE Transactions on Aerospace and Electronic Systems, 44, 783-794. https://doi.org/10.1109/TAES.2008.4560220
  7. Salazar-Cruz, S. and Lozano, R. (2005). Stabilization and nonlinear control for a novel trirotor mini-aircraft. Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain. pp. 2612-2617. https://doi.org/10.1109/ROBOT.2005.1570507
  8. Stevens, B. L. and Lewis, F. L. (1992). Aircraft Control and Simulation. New York: Wiley.
  9. Tayebi, A. and McGilvray, S. (2004). Attitude stabilization of a four-rotor aerial robot. 43rd IEEE Conference on Decision and Control, Atlantis, Paradise Island, Bahamas. pp. 1216-1221.

Cited by

  1. Attitude and Altitude Control of Trirotor UAV by Using Adaptive Hybrid Controller vol.2016, 2016, https://doi.org/10.1155/2016/6459891
  2. Trajectory Tracking of a Tri-Rotor Aerial Vehicle Using an MRAC-Based Robust Hybrid Control Algorithm vol.4, pp.4, 2017, https://doi.org/10.3390/aerospace4010003
  3. Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV vol.16, pp.12, 2016, https://doi.org/10.3390/s16050652