Disturbance Rejection in Multi-Rotor Unmanned Aerial Vehicles Using a Novel Rotor Geometry
Florentin von Frankenberg, Scott Nokleby · Proceedings of the International Conference of Control, Dynamic systems, and Robotics · 2017
This paper presents a novel multi-rotor Unmanned Aerial Vehicle (UAV).The UAV, or OmniCopter, has eight rotors: four lift rotors in the typical quadcopter layout and four thrust motors that are orthogonal to the lift rotors and arranged as two pairs of coaxial counter-rotating rotors.The OmniCopter layout allows the decoupling of translation and orientation that is found in traditional multi-rotor UAVs.The OmniCpoter is able to translate in the plane orthogonal to the lift rotors without having to first roll and/or pitch.Testing is undertaken to determine the OmniCopters ability to reject disturbances from gusting winds.The results show that the OmniCopter has better disturbance rejection abilities when compared to the traditional multi-rotor layout.