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Title
Japanese:同一回転方向のロータのみを用いた傾斜クアッドロータ型UAVに対する特性解析と実験検証 
English: 
Author
Japanese: 伊藤匠, 持田峻佑, 舩田陸, 伊吹竜也, 三平満司.  
English: Takumi Ito, Shunsuke Mochida, Riku Funada, Tatsuya Ibuki, MITSUJI SAMPEI.  
Language Japanese 
Journal/Book name
Japanese:日本機械学会第17回「運動と振動の制御」シンポジウム予稿集 
English: 
Volume, Number, Page         C26
Published date Dec. 9, 2021 
Publisher
Japanese: 
English: 
Conference name
Japanese:日本機械学会第17回「運動と振動の制御」シンポジウム(オンライン) 
English: 
Conference site
Japanese: 
English: 
Abstract This paper analyzes the properties of a unique quadrotor, all rotors of which rotate in the clockwise direction, to verify its hovering capability. First, we derive the dynamics of the considered quadrotor composed of clockwise rotors only. Then, we indicate that owing tilted rotor is necessitated to achieve hovering with this structure, although these tilted rotors generate unfavorable thrust to the horizontal directions. Second, to design a control method for this quadrotor, we assemble a prototype of this quadrotor, which parameters are utilized to analyze the characteristics of this structure by singular value decomposition. To alleviate unfavorable horizontal thrust caused by tilted rotors, we propose a control structure based on a control allocation method. Finally, experimental results demonstrate that our proposed control method makes the considered UAV hover.

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