MULTIROTOR VEHICLES DESIGN BASED ON DYNAMIC MANIPULABILITY FOR UNDERACTUATED FLYING SYSTEMS

Yoshiki Matsumura, Mai Bando, Shinji Hokamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper utilizes Dynamic Manipulability Ellipsoid (DME) and Dynamic Manipulability Measure (DMM) in a predesign phase for multirotor vehicles. When the rotor axes are set to be parallel to maximize the total lift force, the vehicle loses full controllability for three-dimensional translational motion. Thus, this study defines new DME and DMM for such vehicles. This paper explains the meaning of the proposed DME and DMM, and describes an evaluation procedure for multirotor vehicles. Finally, by considering the requirements for Mars multirotor vehicles, this paper evaluates the new DME and DMM with respect to different rotor numbers.

Original languageEnglish
Title of host publication32nd Congress of the International Council of the Aeronautical Sciences, ICAS 2021
PublisherInternational Council of the Aeronautical Sciences
ISBN (Electronic)9783932182914
Publication statusPublished - 2021
Event32nd Congress of the International Council of the Aeronautical Sciences, ICAS 2021 - Shanghai, China
Duration: Sept 6 2021Sept 10 2021

Publication series

Name32nd Congress of the International Council of the Aeronautical Sciences, ICAS 2021

Conference

Conference32nd Congress of the International Council of the Aeronautical Sciences, ICAS 2021
Country/TerritoryChina
CityShanghai
Period9/6/219/10/21

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering
  • General Materials Science
  • Electrical and Electronic Engineering

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