Summary
International Symposium on Nonlinear Theory and Its Applications
2016
Session Number:A3L-E
Session:
Number:A3L-E-4
Modeling and Stabilization of the Novel Quadrotor with Tilting Propeller
Takumi Fukuda, Akinori Sakaguchi, Takashi Takimoto, Toshimitu Ushio,
pp.-
Publication Date:2016/11/27
Online ISSN:2188-5079
Summary:
The quadrotors are useful for periodic inspection of tunnels and bridges. However, the conventional quadrotor has a problem such that it is impossible to control the rotational motion and the translational motion independently. Therefore, if the camera is attached on the bottom of the quadrotor, it is difficult to observe its upward direction. In this paper, we develop a novel quadrotor that has a link to tilt its propellers. By increasing the degree of freedom of the quadrotor, we resolve the problems described above. And we derive the model of the developed quadrotor. Then, we consider a PID controller for the stabilization of the quadrotor at a specified hovering state. We derive gain parameters of the PID controller by which the controlled quadrotor is stabilized.