Design, Modeling, and Control of a Coaxial Drone

Page view(s)
18
Checked on Jan 17, 2025
Design, Modeling, and Control of a Coaxial Drone
Title:
Design, Modeling, and Control of a Coaxial Drone
Journal Title:
IEEE Transactions on Robotics
Keywords:
Publication Date:
15 January 2024
Citation:
Chen, L., Xiao, J., Zheng, Y., Alagappan, N. A., & Feroskhan, M. (2024). Design, Modeling, and Control of a Coaxial Drone. IEEE Transactions on Robotics, 40, 1650–1663. https://doi.org/10.1109/tro.2024.3354161
Abstract:
Various quadrotor drones have been developed in recent years,mainly focusing on either improvingmaximum thrust per platform area or flight maneuverability. Evidently, achieving both advantages simultaneously is a challenging task, since they call for opposing rotor requirements. Specifically, improving the drone’s maximum thrust per platform area mainly requires reducing the number of rotors to make way for larger and more powerful rotors. While this can be an effective method to increase overall thrust, improving flight maneuverability requires a greater number of rotors to generate larger rotating torques or to increase the thrust vectoring capability. To address this challenge, we design a novel coaxial dronewith two contra-rotating rotors for high thrust efficiency while enabling independent dual-axis rotor rotation to maintain maneuverability along the roll and pitch axes. The thrust vectoring capability is provided by two dedicated servomotors connected vertically in series with the coaxial propellers to produce a compact and elongated fuselage frame. A nonlinear flight model in six degrees of freedom is developed for the underactuated system, incorporating four control inputs from the two propellers and servos, respectively. Consequently, a nonlinear control allocation approach is proposed such that the drone can produce a desired control force and yaw torque to stabilize the drone’s position and yaw angle. For the uncontrolled roll and pitch dynamics, a damping component is added such that the roll and pitch angular velocities can also be stabilized. Both numerical simulations and real experiments are conducted to validate the design of the drone and the effectiveness of the proposed control strategy.
License type:
Publisher Copyright
Funding Info:
This research / project is supported by the A*STAR - 2021 MTC Young Individual Research Grants (YIRG) Call
Grant Reference no. : M21K3c0121
Description:
© 2024 IEEE.  Personal use of this material is permitted.  Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
ISSN:
1552-3098
1941-0468
Files uploaded:

File Size Format Action
coaxial-drone-20231230.pdf 13.69 MB PDF Open