MULTIROTOR VEHICLES DESIGN BASED ON DYNAMIC MANIPULABILITY FOR UNDERACTUATED FLYING SYSTEMS

Yoshiki Matsumura, Mai Bando, Shinji Hokamoto

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

抄録

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.

本文言語英語
ホスト出版物のタイトル32nd Congress of the International Council of the Aeronautical Sciences, ICAS 2021
出版社International Council of the Aeronautical Sciences
ISBN(電子版)9783932182914
出版ステータス出版済み - 2021
イベント32nd Congress of the International Council of the Aeronautical Sciences, ICAS 2021 - Shanghai, 中国
継続期間: 9月 6 20219月 10 2021

出版物シリーズ

名前32nd Congress of the International Council of the Aeronautical Sciences, ICAS 2021

会議

会議32nd Congress of the International Council of the Aeronautical Sciences, ICAS 2021
国/地域中国
CityShanghai
Period9/6/219/10/21

!!!All Science Journal Classification (ASJC) codes

  • 航空宇宙工学
  • 制御およびシステム工学
  • 材料科学一般
  • 電子工学および電気工学

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