Design & Control of an Omni-Directional Quad-Rotor
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Unmanned Aerial Vehicle (UAV) is an unmanned air vehicle which can be operated by human or fly autonomously on the basis of flight plans. UAVs are usually utilized for military purposes that are too tedious, dirty, risky, or hazardous for normal manned air vehicles; however, they are also utilized for civil purposes like aerial photography or air surveillance. There are two types of UAVs. One is the fixed-wing UAV, i.e. an airliner, the other is the rotor-wing UAV, i.e. a helicopter. Rotor-wing UAVs have the weather gauge of fixed-wing UAVs. Because they can perform Vertical Take-Off and Landing (VTOL); it is able to hover at particular point. The advantages of the rotor-wing is as follows. First, it is mechanically simple; its main components are n motors and n propellers. Second, they do not require complex mechanical parts to control their flight; it can fly and maneuver only by changing the speed of the motors. One of the successful design example is a four rotor UAV, also known as quadrotor. In this work, design and control of an omni-directional quadrotor model is developed and simulated by using tilt-rotor mechanism. And also, a mathematical model of the quadrotor’s dynamics is derived using Newton’s law and Euler’s law. In addition, linearized models are obtained, and therefore a linear controller, the Linear Quadratic Regulator (LQR), is derived. After that, non-linear controller for the quadrotor is provided. Finally, the behavior of the quadrotor under the proposed control strategies is observed in simulation by using the MATLAB, Simulink and Simmechanics.
Kim, Jaewon (2017). Design & Control of an Omni-Directional Quad-Rotor. Master's thesis, Texas A & M University. Available electronically from