SIX- ROTOR UAV HELICOPTER DYNAMICS AND CONTROL: THEORY AND SIMULATION
|Abhishek1, Abhinandan Tripathi2
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The dynamical model of an original six-rotor is presented in this paper. The helicopter is composed of six rotors with constant pitch propellers; the six rotors are arranged as three counter-rotating offset pairs mounted at vertices of a triangular frame, with matched sets of counter-rotating rotor blades. Differential thrust from these three equally spaced points make helicopter able to manoeuvre quickly and precisely. Euler–Lagrange approach is used to obtain the dynamical model. Classical Linear Feedback control and nonlinear control strategy are proposed for control. The roll and the forward displacement are controlled by using a nested saturation control law. The pitch and lateral displacement are controlled in a similar way.