Date of Award

1-1-2018

Document Type

Thesis

Degree Name

M.S.

Department

Mechatronics Systems Engineering

First Advisor

Kimon Valavanis

Second Advisor

Micheal Keables

Keywords

Holonomic, Multirotor, Quadrotor, Thrust vectoring, UAS, UAV

Abstract

A new type of fully-holonomic aerial vehicle is identified and developed that can optionally utilize automatic cancellation of excessive thruster forces to maintain precise control despite little or no throttle authority. After defining the physical attributes of the new vehicle, a flight control mixer algorithm is defined and presented. This mixer is an input/output abstraction that grants a flight control system (or pilot) full authority of the vehicle's position and orientation by means of an input translation vector and input torque vector. The mixer is shown to be general with respect to the number of thrusters in the system provided that they are distributed in a radially symmetric array. As the mixer is designed to operate independently of the chosen flight control system, it is completely agnostic to the type of control methodology implemented. Validation of both the vehicle's holonomic capabilities and efficacy of the flight control mixing algorithm are provided by a custom MATLAB-based rigid body simulation environment.

Comments

Copyright is held by the author.

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Demonstration Video 1

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Demonstration Video 2

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Demonstration Video 3

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Demonstration Video 4

Provenance

Recieved from ProQuest

Rights holder

Joseph Nicholas Casabona

File size

137 p.

File format

application/pdf

Language

en

Discipline

Robotics

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