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Platform communication setup in experiment. The remote PC takes position and attitude feedback from motion capture system, runs the high-level controller at 100 Hz, and sends commands to each quadcopter through radio communication. Each quadcopter runs low-level controller at 500 Hz with onboard IMU feedback.

Platform communication setup in experiment. The remote PC takes position and attitude feedback from motion capture system, runs the high-level controller at 100 Hz, and sends commands to each quadcopter through radio communication. Each quadcopter runs low-level controller at 500 Hz with onboard IMU feedback.

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Conference Paper
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Tracking position and orientation independently affords more agile maneuver for over-actuated multirotor Unmanned Aerial Vehicles (UAVs) while introducing unde- sired downwash effects; downwash flows generated by thrust generators may counteract others due to close proximity, which significantly threatens the stability of the platform. The complexi...

Context in source publication

Context 1
... the onboard controller regulates the tilting and twisting angles to desired values and provides the required thrust. The measurement rate of the motion capture system, the remote PC controller, and the data communication with each quadcopter are all set to 100 Hz. The quadcopter's onboard controller is set to 500 Hz for fast low-level response. Fig. 6 shows the software architecture. Fig. 7 summarizes the simulation results of two overactuated UAV platforms with the proposed downwash effect model introduced in Section II-C. For the platform that has four 3-DoF thrust generators, a reference attitude trajectory is designed where the downwash effects occur twice (Fig. 7a). As we can ...

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This paper presents the control and experiment of a novel multirotor aerial platform, which is capable of full actuation for six Degree of Freedom (DoF) motions. The platform is actuated by a number of tilting-thrust modules, each consisting of a regular quadcopter and a mechanically passive hinge. The platform in this paper has four such actuator modules, making an over-actuated system that requires input allocations in the feedback control. In addition to the common least-square method that minimizes the sum of squares of the thrusts, we propose a control allocation that minimizes the maximum thrust in a closed-form analytical solution for efficient real time computation. This allocation can achieve larger inclination angles than that by the least-square method, when thrust forces are insufficient to overcome the gravity for all poses. Simulation and real world experiments are presented to demonstrate the control of the aerial platform for six DoF motion tracking and disturbance rejection.