On Modeling and Control of a Holonomic Tricopter

Ramp, Michalis; Papadopoulos, Evangelos

dc.contributor.author	Ramp, Michalis
dc.contributor.author	Papadopoulos, Evangelos
dc.date.accessioned	2022-09-06T11:56:11Z
dc.date.available	2022-09-06T11:56:11Z
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/55600
dc.identifier.uri	http://dx.doi.org/10.26240/heal.ntua.23298
dc.rights	Default License
dc.subject	Holonomic Unmanned Aerial Vehicles	en
dc.title	On Modeling and Control of a Holonomic Tricopter	en
heal.type	journalArticle
heal.classification	Geometric Control System Design	en
heal.contributorName	Ramp, Michalis
heal.contributorName	Papadopoulos, Evangelos
heal.language	en
heal.access	free
heal.recordProvider	ntua	el
heal.publicationDate	2022-06-23
heal.bibliographicCitation	Ramp, M., Papadopoulos, E. On Modeling and Control of a Holonomic Tricopter. J Intell Robot Syst 105, 51 (2022). https://doi.org/10.1007/s10846-021-01541-9	en
heal.abstract	Most holonomic Unmanned Aerial Vehicles (HUAVs) (usually small-scale), employ at least four high-power thrusting actuators, resulting in increased mass, inertia, and energy consumption. In this work, a novel design for a HUAV using only three high-power thrusting actuators is developed. The pointing dynamics of the high rpm motor-propeller assemblies are included in the analysis, resulting in the exposure of oscillatory gyroscopic dynamics. These are studied analytically to yield vectoring oscillation frequency estimates, useful in selecting actuators. A geometric, singularity free, control framework comprised of a new control-allocation scheme and a new vectoring controller is developed. Stability proofs are included and controller robustness is addressed. Simulations (MATLAB/GAZEBO) demonstrating the effectiveness of the developed design and control framework are provided; a HUAV with independent position/attitude regulation (full pose control) using only three thrusting actuators is showcased.	en
heal.publisher	Springer Nature	en
heal.journalName	Journal of Intelligent & Robotic Systems	en
heal.journalType	peer-reviewed
heal.fullTextAvailability	false