TY - GEN
T1 - MULTIROTOR VEHICLES DESIGN BASED ON DYNAMIC MANIPULABILITY FOR UNDERACTUATED FLYING SYSTEMS
AU - Matsumura, Yoshiki
AU - Bando, Mai
AU - Hokamoto, Shinji
N1 - Publisher Copyright:
© 2021 32nd Congress of the International Council of the Aeronautical Sciences, ICAS 2021. All rights reserved.
PY - 2021
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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M3 - Conference contribution
AN - SCOPUS:85124459984
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 -