On modeling and control of a holonomic vectoring tricopter

Ramp, Michalis; Papadopoulos, Evangelos

dc.contributor.author	Ramp, Michalis
dc.contributor.author	Papadopoulos, Evangelos
dc.date.accessioned	2022-09-06T12:10:32Z
dc.date.available	2022-09-06T12:10:32Z
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/55601
dc.identifier.uri	http://dx.doi.org/10.26240/heal.ntua.23299
dc.rights	Default License
dc.subject	Holonomic Unmanned Aerial Vehicles	en
dc.title	On modeling and control of a holonomic vectoring tricopter	en
heal.type	conferenceItem
heal.contributorName	Ramp, Michalis
heal.contributorName	Papadopoulos, Evangelos
heal.language	en
heal.access	free
heal.recordProvider	ntua	el
heal.publicationDate	2015-12-17
heal.bibliographicCitation	M. Ramp and E. Papadopoulos, "On modeling and control of a holonomic vectoring tricopter," 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, pp. 662-668, doi: 10.1109/IROS.2015.7353443.	en
heal.abstract	The modeling and control of a vectoring tricopter UAV are developed in this article. The UAV is actuated by three thrust motors, each guided by suitable actuators, thus forming a platform able to independently track any desired attitude and trajectory. The derivation of the equations of motion is followed by the development of a vectoring controller that is supplemented by an allocation strategy. Both are based on geometric feedback linearization techniques, resulting in a singularity-free control law, taking into account the inertia effects of the main body, of the motors, and of the vectoring dynamics (actuators). A stability proof is developed validating the effectiveness of the control strategy under bounded disturbances. Simulations showcase the developed controller and tricopter performance.	en
heal.publisher	IEEE	en
heal.fullTextAvailability	false
heal.conferenceName	IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)	en
heal.conferenceItemType	full paper