期刊
2019 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS' 19)
卷 -, 期 -, 页码 674-683出版社
IEEE
DOI: 10.1109/icuas.2019.8797934
关键词
-
资金
- JST ERATO [JPMJER1603]
- JSPS KAKENHI [JP19113958]
This paper is concerned with a novel quadcopter with a tilting capability using a parallel link mechanism. The proposed quadcopter consists of the tilting frame and a main body, and an angle between them is called a tilt angle. A ratio of the current width to the maximum one of the quadcopter is called a folding ratio. Using only one servo motor, it can tilt in the pitch direction and be folded vertically within a user-specified ranges of the tilt angle and the folding ratio, respectively. We show a procedure of determining design parameters of the tilting frame to satisfy specifications given by the user. Due to the tilting mechanism of the frame, the proposed quadcopter is not well-controlled as the tilt angle approaches +/-pi/2. Therefore, we focus on a stabilization problem of the quadcopter at a desired tilt angle specified by a user around +/-pi/2 and propose a novel reference tilt angle generator based on the pitch angle. In simulations, we show an effectiveness of the proposed strategy for the reference tilt angle by comparing it with a conventional PID controller under the existence of a disturbance.
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