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Novel Model-Based Control Mixing Strategy for a Coaxial Push-Pull Multirotor

Chebbi, Jawhar and Defaÿ, François and Brière, Yves and Deruaz-Pepin, Alban Novel Model-Based Control Mixing Strategy for a Coaxial Push-Pull Multirotor. (2020) IEEE Robotics and Automation Letters, 5 (2). 485-491. ISSN 2377-3774

(Document in English)

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Official URL: https://doi.org/10.1109/LRA.2019.2963652


A Coaxial push-pull multirotor is a Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) having 2n (n ∈ IN*) rotors arranged in n blocks of two coaxial contrarotating rotors. A model-based control allocation algorithm (mixer) for this architecture is proposed. The novelty of the approach lies in the fact that the coaxial aerodynamic interference occurring between the pairs of superimposed rotors is not neglected but rather nonlinear empiric models of the coaxial aerodynamic thrust and torque are used to build the mixer. Real flight experiments were conducted and the new approach showed promising results.

Item Type:Article
Additional Information:Thanks to the IEEE (Institute of Electrical and Electronics Engineers). This paper is available at : https://ieeexplore.ieee.org/document/8949453 “© 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
HAL Id:hal-03035978
Audience (journal):International peer-reviewed journal
Uncontrolled Keywords:
Institution:Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
Université de Toulouse > Université Toulouse III - Paul Sabatier - UT3 (FRANCE)
Other partners > Donecle (FRANCE)
Laboratory name:
Deposited On:02 Dec 2020 13:23

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