Affiliation:
1. Department of Electrical Engineering Changzhou Vocational Institute of Mechatronic Technology Changzhou Jiangsu China
2. Department of Electrical Information Engineering JiangSu University of Technology Changzhou Jiangsu China
3. Department of Mechanical and Control Engineering Kyushu Institute of Technology Kitakyushu Japan
Abstract
SummaryThis paper introduces a novel fully actuated multirotor unmanned aerial vehicle (UAV) and develops an adaptive control scheme for it without relying on velocity signals. Conventional multirotors are limited by their strong coupling between translation and rotation motion, which makes it difficult to operate one motion without affecting the other. However, this novel multirotor's fully actuated design allows for independent translation and rotation motion, leading to better operational performance and expanded application scope. Additionally, velocity measurement signals can be prone to noise pollution and signal drift, making them unreliable for control purposes. Therefore, this proposed control scheme is developed without using velocity signals. The study utilizes a control performance improving method and guarantees stability of the closed‐loop system using the direct Lyapunov method. Finally, numerical simulations are employed to demonstrate the effectiveness of the proposed control scheme.