Technical Journal of Advanced Mobility
Online ISSN : 2435-5453
Geometric-Parameter and Controller Optimization of Hovering Multirotor Aircraft by Expanding the Size of the Domain of Attraction
Kohei YamaguchiSusumu Hara
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JOURNAL OPEN ACCESS

2023 Volume 4 Issue 2 Pages 11-19

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Abstract
A multirotor aircraft is a rotorcraft with more than two rotors. Owing to its relatively simple mechanisms for flight control, it has been widely used in various fields, such as aerial photography and disaster management. To determine an optimal design for a multirotor aircraft, the geometric parameters and controllers are quasisimultaneously optimized. The domain of attraction, which defines the stable region around an equilibrium point for a nonlinear system, was used as an objective function for optimization. By finding geometric parameters and the controller that expands the size of the attraction domain, a multirotor aircraft can be optimized. The visualization of the domains shows that the optimized aircraft can deal with a larger deviation from an equilibrium point compared with the original aircraft.
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© 2023 Japan UAS Industrial Development Association
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