2020 Volume 38 Issue 2 Pages 192-198
In this study, independent attitude and position control for non-planar multi-rotor helicopter is designed. Conventional multi-rotor helicopters have planar rotor arrangement, non-holonomic and under-actuated properties. Therefore, translational and rotational motion are coupled, and dynamics of attitude and position are not independent. This property is unfavorable on precise position control which is desired for several tasks such as inspection of infrastructure. From this background, we proposed non-planar multi-rotor helicopter which has both simple structure and fully actuated property. In this paper, independent attitude and position control for non-planar multi-rotor helicopter is designed on the basis of optimal control theory. Independence of attitude control and position control are verified by flight experiment. Finally, the superiority of proposed non-planar multi-rotor helicopter compared with conventional one is shown from the point of view of the hovering performance.
