Novel Model-Based Control Mixing Strategy for a Coaxial Push-Pull Multirotor

Jawhar Chebbi (1, 2) , François Defaÿ (3) , Yves Brière (2) , Alban Deruaz-Pepin (1)

1 Donecle
2 DCAS - Département Conception et conduite des véhicules Aéronautiques et Spatiaux
3 IUT de Tarbes

A Coaxial push-pull multirotor is a Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) having 2n (n ∈ IN*) rotors arranged in n blocks of two coaxial contrarotating rotors. A model-based control allocation algorithm (mixer) for this architecture is proposed. The novelty of the approach lies in the fact that the coaxial aerodynamic interference occurring between the pairs of superimposed rotors is not neglected but rather nonlinear empiric models of the coaxial aerodynamic thrust and torque are used to build the mixer. Real flight experiments were conducted and the new approach showed promising results.

Mots clés: Aerial systems; Mechanics and control; Calibration and identification; Force control

Domaines: Autre

Jawhar Chebbi, François Defaÿ, Yves Brière, Alban Deruaz-Pepin. Novel Model-Based Control Mixing Strategy for a Coaxial Push-Pull Multirotor. IEEE Robotics and Automation Letters, 2020, 5 (2), pp.485-491. ⟨10.1109/LRA.2019.2963652⟩. ⟨hal-03035978⟩