Publication detail

Modelling and Control of a Hexa-copter

BARÁNEK, R. ŠOLC, F.

Original Title

Modelling and Control of a Hexa-copter

Type

conference paper

Language

English

Original Abstract

The paper describes mathematical model and control algorithm for hexa-copter flying machine. Hexa-copter is a member of multi-rotor flying devices which consist of multiple fixed rotors attached to a simple mechanical construction. Hexacopter itself consists of 6 six rotors with fixed pitch blades. The main property of such devices is their instability. Thus the control algorithm is non-trivial and its tuning is relatively difficult. Since incorrectly tuned control algorithm can cause device damage the use of mathematical model for testing is appropriate. The model of flying hexa-copter is derived using classical Newton laws. As the perfect model would be complicated, some approximations have been done. Using the state variables of model and linearization a control algorithm is designed. Then the results of control algorithm are presented.

Keywords

modelling; control; hexa-copter; multi-copter

Authors

BARÁNEK, R.; ŠOLC, F.

RIV year

2012

Released

28. 5. 2012

Publisher

ICCC 2012, Institute of Control and Informatization of Production Processes

Location

Faculty of BERG Technical Universtity of Košice B. Němcovej 3, 042 00 Košice

ISBN

978-1-4577-1866-3

Book

Proceedings of the 2012 13th International Carpathian Control Conference (ICCC)

Edition

1

Edition number

1

Pages from

19

Pages to

23

Pages count

5

BibTex

@inproceedings{BUT92329,
  author="Radek {Baránek} and František {Šolc}",
  title="Modelling and Control of a Hexa-copter",
  booktitle="Proceedings of the 2012 13th International Carpathian Control Conference (ICCC)",
  year="2012",
  series="1",
  number="1",
  pages="19--23",
  publisher="ICCC 2012, Institute of Control and Informatization of Production Processes",
  address="Faculty of BERG
Technical Universtity of Košice
B. Němcovej 3, 042 00 Košice",
  isbn="978-1-4577-1866-3"
}