TY - GEN
T1 - Quadrotor helicopter with tilting rotors
T2 - Modeling and simulation
AU - Elfeky, Mahmoud
AU - Elshafei, Moustafa
AU - Saif, Abdul Wahid A.
AU - Al-Malki, Mohamed F.
PY - 2013
Y1 - 2013
N2 - Quadrotors have recently become a focus of research in Unmanned Aerial Vehicle (UAV) and flying robots applications. However, controlling the quadrotor dynamics is noticeably complex as the conventional quadrotor is underactuated. Some of the quadrotor motions are coupled with others which makes it impossible to achieve all the desired maneuvers. In this paper, a novel quadrotor design is proposed. The design increases the number of inputs from four in conventional quadrotors to twelve by allowing each rotor to tilt in two directions about its fixed frames. This addition aims to separate the quadrotor motions and give it more maneuverability and robustness. The model of the new design is introduced and several flights are simulated to show the superiority over conventional design.
AB - Quadrotors have recently become a focus of research in Unmanned Aerial Vehicle (UAV) and flying robots applications. However, controlling the quadrotor dynamics is noticeably complex as the conventional quadrotor is underactuated. Some of the quadrotor motions are coupled with others which makes it impossible to achieve all the desired maneuvers. In this paper, a novel quadrotor design is proposed. The design increases the number of inputs from four in conventional quadrotors to twelve by allowing each rotor to tilt in two directions about its fixed frames. This addition aims to separate the quadrotor motions and give it more maneuverability and robustness. The model of the new design is introduced and several flights are simulated to show the superiority over conventional design.
KW - Degrees of freedom
KW - Quadrotor
KW - UAV
KW - tilting rotor
KW - underactuated
UR - http://www.scopus.com/inward/record.url?scp=84887984358&partnerID=8YFLogxK
U2 - 10.1109/WCCIT.2013.6618768
DO - 10.1109/WCCIT.2013.6618768
M3 - Conference contribution
AN - SCOPUS:84887984358
SN - 9781479904600
T3 - 2013 World Congress on Computer and Information Technology, WCCIT 2013
BT - 2013 World Congress on Computer and Information Technology, WCCIT 2013
ER -