Abstract
This paper proposes control methods and design techniques of a non-planar hexarotor helicopter which is capable of decoupling attitude motion from translational motion dividing the six rotors into three pairs and placing on three orthogonal planes. Variable pitch rotors are employed so that force in both negative and positive directions is generated. By enclosing all mechanical parts within a frame, it is possible to protect it from collisions and y in narrow space. Unless it is needed to hover, it can move to the destination using rolling motion, thereby reducing energy consumption. We performed mechanical design of the proposed helicopter in detail. Its hardware specification and CAD drawings are described. Static and dynamic models are derived from geometrical relations and simple aerodynamic models. We also designed control systems using modern control theory and backstepping. We simulated the designed system to examine whether the performance meets requirements.
