MULTIROTOR VEHICLES DESIGN BASED ON DYNAMIC MANIPULABILITY FOR UNDERACTUATED FLYING SYSTEMS

Yoshiki Matsumura; Mai Bando; Shinji Hokamoto

MULTIROTOR VEHICLES DESIGN BASED ON DYNAMIC MANIPULABILITY FOR UNDERACTUATED FLYING SYSTEMS

Yoshiki Matsumura, Mai Bando, Shinji Hokamoto

Flight Dynamics Lab

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper utilizes Dynamic Manipulability Ellipsoid (DME) and Dynamic Manipulability Measure (DMM) in a predesign phase for multirotor vehicles. When the rotor axes are set to be parallel to maximize the total lift force, the vehicle loses full controllability for three-dimensional translational motion. Thus, this study defines new DME and DMM for such vehicles. This paper explains the meaning of the proposed DME and DMM, and describes an evaluation procedure for multirotor vehicles. Finally, by considering the requirements for Mars multirotor vehicles, this paper evaluates the new DME and DMM with respect to different rotor numbers.

Original language	English
Title of host publication	32nd Congress of the International Council of the Aeronautical Sciences, ICAS 2021
Publisher	International Council of the Aeronautical Sciences
ISBN (Electronic)	9783932182914
Publication status	Published - 2021
Event	32nd Congress of the International Council of the Aeronautical Sciences, ICAS 2021 - Shanghai, China Duration: Sept 6 2021 → Sept 10 2021

Publication series

Name	32nd Congress of the International Council of the Aeronautical Sciences, ICAS 2021

Conference

Conference	32nd Congress of the International Council of the Aeronautical Sciences, ICAS 2021
Country/Territory	China
City	Shanghai
Period	9/6/21 → 9/10/21

All Science Journal Classification (ASJC) codes

Aerospace Engineering
Control and Systems Engineering
Materials Science(all)
Electrical and Electronic Engineering

Cite this

MULTIROTOR VEHICLES DESIGN BASED ON DYNAMIC MANIPULABILITY FOR UNDERACTUATED FLYING SYSTEMS. / Matsumura, Yoshiki; Bando, Mai ; Hokamoto, Shinji.

32nd Congress of the International Council of the Aeronautical Sciences, ICAS 2021. International Council of the Aeronautical Sciences, 2021. (32nd Congress of the International Council of the Aeronautical Sciences, ICAS 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Matsumura, Y, Bando, M & Hokamoto, S 2021, MULTIROTOR VEHICLES DESIGN BASED ON DYNAMIC MANIPULABILITY FOR UNDERACTUATED FLYING SYSTEMS. in 32nd Congress of the International Council of the Aeronautical Sciences, ICAS 2021. 32nd Congress of the International Council of the Aeronautical Sciences, ICAS 2021, International Council of the Aeronautical Sciences, 32nd Congress of the International Council of the Aeronautical Sciences, ICAS 2021, Shanghai, China, 9/6/21.

Matsumura, Yoshiki ; Bando, Mai ; Hokamoto, Shinji. / MULTIROTOR VEHICLES DESIGN BASED ON DYNAMIC MANIPULABILITY FOR UNDERACTUATED FLYING SYSTEMS. 32nd Congress of the International Council of the Aeronautical Sciences, ICAS 2021. International Council of the Aeronautical Sciences, 2021. (32nd Congress of the International Council of the Aeronautical Sciences, ICAS 2021).

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title = "MULTIROTOR VEHICLES DESIGN BASED ON DYNAMIC MANIPULABILITY FOR UNDERACTUATED FLYING SYSTEMS",

abstract = "This paper utilizes Dynamic Manipulability Ellipsoid (DME) and Dynamic Manipulability Measure (DMM) in a predesign phase for multirotor vehicles. When the rotor axes are set to be parallel to maximize the total lift force, the vehicle loses full controllability for three-dimensional translational motion. Thus, this study defines new DME and DMM for such vehicles. This paper explains the meaning of the proposed DME and DMM, and describes an evaluation procedure for multirotor vehicles. Finally, by considering the requirements for Mars multirotor vehicles, this paper evaluates the new DME and DMM with respect to different rotor numbers.",

author = "Yoshiki Matsumura and Mai Bando and Shinji Hokamoto",

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Y1 - 2021

N2 - This paper utilizes Dynamic Manipulability Ellipsoid (DME) and Dynamic Manipulability Measure (DMM) in a predesign phase for multirotor vehicles. When the rotor axes are set to be parallel to maximize the total lift force, the vehicle loses full controllability for three-dimensional translational motion. Thus, this study defines new DME and DMM for such vehicles. This paper explains the meaning of the proposed DME and DMM, and describes an evaluation procedure for multirotor vehicles. Finally, by considering the requirements for Mars multirotor vehicles, this paper evaluates the new DME and DMM with respect to different rotor numbers.

AB - This paper utilizes Dynamic Manipulability Ellipsoid (DME) and Dynamic Manipulability Measure (DMM) in a predesign phase for multirotor vehicles. When the rotor axes are set to be parallel to maximize the total lift force, the vehicle loses full controllability for three-dimensional translational motion. Thus, this study defines new DME and DMM for such vehicles. This paper explains the meaning of the proposed DME and DMM, and describes an evaluation procedure for multirotor vehicles. Finally, by considering the requirements for Mars multirotor vehicles, this paper evaluates the new DME and DMM with respect to different rotor numbers.

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T3 - 32nd Congress of the International Council of the Aeronautical Sciences, ICAS 2021

BT - 32nd Congress of the International Council of the Aeronautical Sciences, ICAS 2021

PB - International Council of the Aeronautical Sciences

T2 - 32nd Congress of the International Council of the Aeronautical Sciences, ICAS 2021

Y2 - 6 September 2021 through 10 September 2021

ER -

MULTIROTOR VEHICLES DESIGN BASED ON DYNAMIC MANIPULABILITY FOR UNDERACTUATED FLYING SYSTEMS

Abstract

Publication series

Conference

All Science Journal Classification (ASJC) codes

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