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Experimental Model Derivation and Control of a Variable Pitch Propeller Quadrotor
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0001-5735-5484
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
2014 (English)In: 2014 IEEE International Conference on Control Applications (CCA 2014): Juan Les Antibes, France, 8 -10 October 2014, Piscataway, NJ: IEEE Communications Society, 2014, p. 723-729Conference paper, Published paper (Refereed)
Abstract [en]

The aim of this article is to present a novel quaternion based control scheme for the attitude control problem of a quadrotor equipped with variable pitch propellers. A variable pitch propeller is a type of propeller system utilizes a mechanical mechanism to change the pitch of the rotor blades, while when applied to quadrotors it results in an over-actuated control system. The novelty of the article stems from: a) the proposal of an experimental model for variable pitch propellers and b) the novel proposed thrust and power consumption optimisations for the over-actuated quadrotor. Throughout the article, the merits of the proposed novel approach are being analyzed and discussed, while the efficiency of the variable pitch propellers are being evaluated by extended simulation and experimental results.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Communications Society, 2014. p. 723-729
Series
I E E E International Conference on Control Applications. Proceedings, ISSN 1085-1992
Keywords [en]
Quadrotor, UAV, Information technology - Automatic control
Keywords [sv]
Informationsteknik - Reglerteknik
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-30373DOI: 10.1109/CCA.2014.6981426Scopus ID: 2-s2.0-84920517562Local ID: 427b60b1-259b-495c-9227-549fa000e400ISBN: 9781479974092 (print)OAI: oai:DiVA.org:ltu-30373DiVA, id: diva2:1003600
Conference
IEEE International Conference on Control Applications : 08/10/2014 - 10/10/2014
Note
Validerad; 2016; Nivå 1; 20140813 (geonik)Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2018-07-10Bibliographically approved

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Fresk, EmilNikolakopoulos, George

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