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Title: Dynamic modeling and control system design for tri-rotor UAV
Authors: Yoo, Dong-Wan
Oh, Hyondong
Won, Dae-Yeon
Tahk, Min-Jea
Issue Date: 2010
Publisher: © IEEE
Citation: YOO, D.-W. ... et al, 2010. Dynamic modeling and control system design for tri-rotor UAV. IN; Proceedings of the 3rd International Symposium on Systems and Control in Aeronautics and Astronautics (ISSCAA), 8th-10th June 2010, Harbin, pp. 762-767.
Abstract: In this paper, design, dynamics and control allocation of Tri-Rotor UAV are introduced. Tri-Rotor UAV has three rotor axes that are equidistant from its center of gravity. There are two designs of Tri-Rotor introduced in this paper. Single Tri-Rotor UAV has a servo-motor that has been installed on one of the three rotors, which enables a rapid control on its motion and its various attitude changes; unlike a Quad-Rotor UAV, which only depends on rpm of four rotors to control. The other design is called Coaxial Tri-Rotor UAV, which has two rotors installed on each rotor axis. Since Tri-Rotor type UAV has the yawing problem induced from an unpaired rotor's reaction torque, it is required to derive accurate dynamics and design control logics for both Single and Coaxial Tri-Rotors. For that reason, control strategy for each Tri-Rotor type is proposed and nonlinear simulations of altitude, Euler angles, and angular velocity responses have been done by using classical PID controller. Simulation results show that the proposed control strategies are appropriate for the control of Single and Coaxial Tri-Rotor UAV.
Description: © 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor: Authors are gratefully acknowledging the financial support by Agency for Defense Development and by UTRC (Unmanned Technology Research Center) and Brain Korea 21 Project, Korea Advanced Institute of Science and Technology
Version: Accepted for publication
DOI: 10.1109/ISSCAA.2010.5632868
URI: https://dspace.lboro.ac.uk/2134/17851
Publisher Link: http://dx.doi.org/10.1109/ISSCAA.2010.5632868
ISBN: 9781424460434
Appears in Collections:Conference Papers and Presentations (Aeronautical and Automotive Engineering)

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