Journal
2020 28TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED)
Volume -, Issue -, Pages 50-55Publisher
IEEE
DOI: 10.1109/med48518.2020.9183117
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Funding
- Ginger CEBTP
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In this paper, a deep analysis of a quadcopter with tilting rotors is proposed. An exhaustive mechanical study is provided for several configurations of the aerial vehicle, allowing nonlinear mathematical equations that are obtained using the Newton-Euler approach, resulting in over actuated systems. A control scheme is proposed and validated numerically and in real time to stabilize the system. Some ROS nodes are developed, to convert the Simulink (TM) control diagrams into C++ code, in order to implement the control algorithms easily into the embedded system of the developed quadcopter prototype with tilting rotors.
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