izvorni znanstveni rad
In this paper, custom control system design and implementation for fully actuated multirotor unmanned aerial vehicle (UAV) are presented. For the purpose of control design, a mathematical model of the aircraft is shown. A fully actuated hexarotor configuration with passively tilted rotors has six independent control variables, therefore every degree of freedom can be directly controlled with six independent control variables. The feasibility of a control design is shown and tested with conventional control techniques, linear quadratic regulator (LQR), and cascaded position and orientation controllers. The performance of the considered controllers for a fully actuated multirotor configuration is illustrated by simulation examples and by experimental tests.
multirotor UAV; fully actuated configuratio ; LQR; cascaded control
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The ever-growing usage and adaptation of HTTP/3 in web traffic leverages Quick UDP Internet Connections (QUIC) as a transport protocol. QUIC is widely recognized for reduced latency, enhanced…
