Trajectory tracking of Trirotor UAV with Pendulum Load

Abstract : Recently increasing attention has been paid to multirotor small-scale autonomous helicopters. The most studied rotor layout is the so-called quadrotor helicopter, also called quadcopter. However, these UAVs can be seen as lacking agility as they cannot move in their horizontal plane and thus have to rotate to perform translations. In this work, we develop on a layout involving only three rotors with tilting capabilities. We show in the following the advantage of this layout for tracking arbitrary trajectories and for transporting a pendulum load.
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Conference papers
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https://hal-centralesupelec.archives-ouvertes.fr/hal-02332414
Contributor : Delphine Le Piolet <>
Submitted on : Thursday, October 24, 2019 - 5:36:19 PM
Last modification on : Wednesday, October 30, 2019 - 11:49:12 AM

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  • HAL Id : hal-02332414, version 1

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Etienne Servais, Hugues Mounier, Brigitte d'Andréa-Novel. Trajectory tracking of Trirotor UAV with Pendulum Load. 20th International Conference on Methods and Models in Automation and Robotics (MMAR), Aug 2015, Miedzyzdroje, Poland. ⟨hal-02332414⟩

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