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Robust Control of Novel Thrust Vectored 3D Printed Multicopter

Suiyang Khoo  Michael Norton  Jayanth Jaya Kumar  Juliang Yin  Xin Yu  Tim Macpherson  Denis Dowling  Abbas Kouzani  
【摘要】:In this paper, a novel thrust vectored 3D printed multicopter is designed and built. The dynamic equation of the multicopter with n propellers where n ≥ 2 is derived. Conditions for effective thrust vectoring is established. A robust control scheme for the multicopter system, based on the multi-surface sliding control is proposed. We prove that the proposed control scheme guarantees asymptotic output tracking performance. Experimental results are presented to validate the analysis.

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